{"ID":2863579,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.24733","arxiv_id":"2509.24733","title":"APREBot: Active Perception System for Reflexive Evasion Robot","abstract":"Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR provides omnidirectional coverage but lacks rich texture information, while cameras capture high-resolution detail but suffer from restricted field of view. We introduce APREBot (Active Perception System for Reflexive Evasion Robot), a novel framework that integrates reflexive evasion with active hierarchical perception. APREBot strategically combines LiDAR-based omnidirectional scanning with camera-based active focusing, achieving comprehensive environmental awareness essential for agile obstacle avoidance in quadruped robots. We validate APREBot through extensive sim-to-real experiments on a quadruped platform, evaluating diverse obstacle types, trajectories, and approach directions. Our results demonstrate substantial improvements over state-of-the-art baselines in both safety metrics and operational efficiency, highlighting APREBot's potential for dependable autonomy in safety-critical scenarios. Videos are available at https://sites.google.com/view/aprebot/","short_abstract":"Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR provides omnidirectional coverage but lacks rich texture information, while cameras c...","url_abs":"https://arxiv.org/abs/2509.24733","url_pdf":"https://arxiv.org/pdf/2509.24733v1","authors":"[\"Zihao Xu\",\"Kuankuan Sima\",\"Junhao Deng\",\"Zixuan Zhuang\",\"Chunzheng Wang\",\"Ce Hao\",\"Jin Song Dong\"]","published":"2025-09-29T12:58:30Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","project_urls":"[\"https://sites.google.com/view/aprebot/\"]","has_code":false,"code_links":[{"ID":609024,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2863579,"paper_url":"https://arxiv.org/abs/2509.24733","paper_title":"APREBot: Active Perception System for Reflexive Evasion Robot","repo_url":"https://github.com/google/safevalues","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}