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We propose extending DSG-style skill-graph planning to a high-DoF humanoid robot (Unitree G1) in structured indoor environments. Our objective is to evaluate whether graph-based abstraction scales to dynamically constrained humanoid locomotion and to introduce stability-aware and uncertainty-aware extensions suitable for whole-body systems.
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Merge pull request #15 from shivangvijay/abhi/sandbox-upgrade
ecafe89View on GitHubMerge pull request #14 from shivangvijay/abhi/svm-implementation
543e513View on GitHubimproved sandbox to use the unitree_mujoco libraries
7053d50View on GitHubintegrating resetting of robot with linear/angular velocity
168fedcView on GitHubadded skill chaining capability, with the goal being the next skill's initiation set
fbe2377View on GitHub