This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds. If these footholds are not reached, the robot may end up in a state with no reachable safe footholds. Therefore, we present a Vision-Based Terrain-Aware Locomotion (ViTAL) strategy that consists of novel pose adaptation and foothold selection algorithms. ViTAL introduces a different paradigm in pose adaptation that does not optimize the body pose relative to given footholds, but the body pose that maximizes the chances of the legs in reaching safe footholds. ViTAL plans footholds and poses based on skills that characterize the robot's capabilities and its terrain-awareness. We use the 90 kg HyQ and 140 kg HyQReal quadruped robots to validate ViTAL, and show that they are able to climb various obstacles including stairs, gaps, and rough terrains at different speeds and gaits. We compare ViTAL with a baseline strategy that selects the robot pose based on given selected footholds, and show that ViTAL outperforms the baseline.

For those of us that are regulars at fintech and artificial intelligence (AI) conferences and follow the development and innovation around AI, virtual financial assistants (VFAs) have gotten a lot of attention at these events for a few years now. But lately it seems that VFAs might be becoming old news -- conferences have started moving onto other topics after focusing on conversational AI for several years in a row. So the questions many people have are: "What's taking so long? Why doesn't my bank have one yet?" The hype around VFAs and their benefits the last few years may seem new but it is not, it just got louder.

Real-world problems of operations research are typically high-dimensional and combinatorial. Linear programs are generally used to formulate and efficiently solve these large decision problems. However, in multi-period decision problems, we must often compute expected downstream values corresponding to current decisions. When applying stochastic methods to approximate these values, linear programs become restrictive for designing value function approximations (VFAs). In particular, the manual design of a polynomial VFA is challenging. This paper presents an integrated approach for complex optimization problems, focusing on applications in the domain of operations research. It develops a hybrid solution method that combines linear programming and neural networks as part of approximate dynamic programming. Our proposed solution method embeds neural network VFAs into linear decision problems, combining the nonlinear expressive power of neural networks with the efficiency of solving linear programs. As a proof of concept, we perform numerical experiments on a transportation problem. The neural network VFAs consistently outperform polynomial VFAs, with limited design and tuning effort.