← Back to Benchmarks
simmediumquadrupedmetric · varies
PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour
Description
Parkour tasks for quadrupeds have emerged as a promising benchmark for agile locomotion. While human athletes can effectively perceive environmental characteristics to select appropriate footholds for obstacle traversal, endowing legged robots with similar perceptual reasoning remains a significant challenge. Existing methods often rely on hierarchical controllers that follow pre-computed footholds, thereby constraining the robot's real-time adaptability and the exploratory potential of reinforc