Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
On the map: Deep reinforcement learning methods → RL for robot locomotion and manipulation
Abstract (arXiv)
Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning with a progressive training process. To start, we learn the jumping skill by mimicking a coarse jumping example generated by model-based trajectory optimization. Subsequently, we generalize the learned policy to broader situations, including various distances in both forward and lateral directions, and then pursue robust jumping in unknown ground unevenness. In addition, without tuning the reward much, we learn the jumping policy for a quadruped with parallel elasticity. Results show that using the proposed method, i) the robot learns versatile jumps by learning only from a single demonstration, ii) the robot with parallel compliance reduces the landing error by 11.1%, saves energy cost by 15.2% and reduces the peak torque by 15.8%, compared to the rigid robot without parallel elasticity, iii) the robot can perform jumps of variable distances with robustness against ground unevenness (maximal 4cm height perturbations) using only proprioceptive perception.
Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in RL for robot locomotion and manipulation, one of 15 directions in Deep reinforcement learning methods. Builds on 15 of its 31 references that are in the map. First posted on arXiv 20 Mar 2025.
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- 2017Proximal Policy Optimization Algorithmscited by 15,215
- 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
- 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 319
- 2020Learning Agile Robotic Locomotion Skills by Imitating Animalscited by 251
- 2018DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skillscited by 163
- 2022Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrationscited by 45
- 2022OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviorscited by 35
- 2020Robust Quadruped Jumping via Deep Reinforcement Learningcited by 27
- 2023Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuatorscited by 11
- 2022Continuous Jumping for Legged Robots on Stepping Stones via Trajectory Optimization and Model Predictive Controlcited by 10
- 2023Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupedscited by 7
- 2020Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Programcited by 5
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- 2025Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
- 2025Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning
- 2026Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space ↗
- 2025Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing
- 2026Co-jump: Cooperative Jumping with Quadrupedal Robots via Multi-Agent Reinforcement Learning
- 2022Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning
- 2025Jump-Start Reinforcement Learning with Self-Evolving Priors for Extreme Monopedal Locomotion
- 2024Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives