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@0xkubj Since there seems to be interest in this, I'll see if I can refine it a bit more before adding on GitHub. In the meantime, the training code for the original work (trained in sim) is already available: leggedrobotics/foothold-prediction-model
@ZappyZappy7 Thanks for sharing our work! You can try the policy and foothold predictor yourself in your browser on the project page, or see the full implementation on GitHub: leggedrobotics/foothold-prediction-model More results in our thread: x.com