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title
Robot Parkour Learning
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Robot Parkour Learning
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Robot Parkour Learning
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2025-12-15 01:06:49
raw text
Robot Parkour Learning Robot Parkour Learning Ziwen Zhuang * Zipeng Fu * Jianren Wang Christopher Atkeson Sören Schwertfeger Chelsea Finn Hang Zhao CoRL 2023 (Oral) Paper arXiv Video Bilibili Summary Code Abstract Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized skills by using reference animal data or complex rewards. However, autonomous parkour requires robots to learn generalizable skills that are both vision-based and diverse to perceive and react to various scenarios. In this work, we propose a system for learning a single end-to-end vision-based parkour policy of diverse parkour skills using a simple reward without any reference motion data. We develop a reinforcement learning method inspired by direct collocation to ge...
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