Overview : This project introduces a high-level controller that leverages context-aware terrain adaptation by integrating proprioceptive and exteroceptive sensing. By combining onboard sensor data, the controller builds a robust understanding of terrain, enabling more adaptive and reliable locomotion. We evaluate the approach across diverse terrains using the ANYmal-C robot in simulation-IsaacSim and validate it in real-world experiments on the Boston Dynamics SPOT platform.

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