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What is the current way robots can assess and traverse difficult obstacles in 3d space?

I could see manual feature extraction using stereo vision (for example, the height of the obstacle, "smoothness", etc.), but I am wondering if Deep RL can work?

Or even something involving model-based planning, where you internally run an RRT algorithm on the obstacle in real-time using a physics engine (but it's not clear to me how well a physics engine could actually model the environment).

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