# Metadata Source URL:: https://ut-austin-rpl.github.io/PRELUDE/ Topics:: #ai --- # Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments ## Highlights > [!quote]+ Updated on 210922_185757 > > We present a hierarchical learning framework, named PRELUDE, which decomposes the problem of perceptive locomotion into high-level decision-making to predict navigation commands and low-level gait generation to realize the target commands. In this framework, we train the high-level navigation controller with imitation learning on human demonstrations collected on a steerable cart and the low-level gait controller with reinforcement learning (RL). Therefore, our method can acquire complex navigation behaviors from human supervision and discover versatile gaits from trial and error