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simmediumsim-to-realmetric · varies
TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour
Description
Achieving highly dynamic humanoid parkour on unseen, complex terrains remains a challenge in robotics. Although general locomotion policies demonstrate capabilities across broad terrain distributions, they often struggle with arbitrary and highly challenging environments. To overcome this limitation, we propose a real-to-sim-to-real framework that leverages rapid test-time training (TTT) on novel terrains, significantly enhancing the robot's capability to traverse extremely difficult geometries.