How do you get perceptive locomotion over rough terrain without brittle terrain classifiers?
Excited to share CTS-MoE, a framework for implicit terrain adaptation via Mixture-of-Experts for perceptive locomotion. No selectors or per-task policies; the policy adapts end-to-end straight from vision.
TL;DR:
→ Perception-driven routing handles diverse, discontinuous terrain implicitly; no high-level task selector or per-task policy distillation.
→ Big gains on hard tasks (climbing, gaps) under MTRL, with smooth transitions on both seen and unseen terrain.
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