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   <title>Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments</title>
 
 
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 <br><br><hr> <h1 align="center">Hierarchical Perceptive Locomotion Model</h1> <!-- <h2
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 <table align=center width=800px><tr><td> <p align="justify" width="20%">The high-level navigation policy generates the target velocity command at 10Hz from the onboard RGB-D camera observation and robot heading. The target velocity command, including linear and angular velocities, is used as input to the low-level gait controller along with the buffer of recent robot states. The low-level gait policy predicts the joint-space actions as the desired joint positions at 38Hz and sends them to the quadruped robot for actuation. More implementation details can be found in <a href="https://github.com/UT-Austin-RPL/PRELUDE/blob/main/implementation.md">this page</a>.
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