mlsanityData to 14 Oct 2026

Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning

arXiv 2510.24584 ↗First posted 28 Oct 2025cs.ROcited by 1

On the map: Deep reinforcement learning methods → RL for robot locomotion and manipulation

Abstract (arXiv)

This paper presents a curriculum-based reinforcement learning framework for training precise and high-performance jumping policies for the robot `Olympus'. Separate policies are developed for vertical and horizontal jumps, leveraging a simple yet effective strategy. First, we densify the inherently sparse jumping reward using the laws of projectile motion. Next, a reference state initialization scheme is employed to accelerate the exploration of dynamic jumping behaviors without reliance on reference trajectories. We also present a walking policy that, when combined with the jumping policies, unlocks versatile and dynamic locomotion capabilities. Comprehensive testing validates walking on varied terrain surfaces and jumping performance that exceeds previous works, effectively crossing the Sim2Real gap. Experimental validation demonstrates horizontal jumps up to 1.25 m with centimeter accuracy and vertical jumps up to 1.0 m. Additionally, we show that with only minor modifications, the proposed method can be used to learn omnidirectional jumping.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Placed in RL for robot locomotion and manipulation, one of 15 directions in Deep reinforcement learning methods. Builds on 17 of its 28 references that are in the map. First posted on arXiv 28 Oct 2025.

Builds on

17 of 28 references.

Closest ancestors · 1

Same direction, newest first

  1. 2024Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design29 Jan

Other references · 16

  1. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 604
  2. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 512
  3. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 319
  4. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 295
  5. 2023Extreme Parkour with Legged Robotscited by 164
  6. 2021Learning to Jump from Pixelscited by 45
  7. 2022Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrationscited by 45
  8. 2023Barkour: Benchmarking Animal-level Agility with Quadruped Robotscited by 41
  9. 2025Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuningcited by 26
  10. 2023Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robotscited by 20
  11. 2021Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped Robotscited by 10
  12. 2024Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Controlcited by 10
4 more
  1. 2016Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupedscited by 8
  2. 2023Contact-Implicit Model Predictive Control: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectoriescited by 8
  3. 2024SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodiescited by 4
  4. 2025Olympus: A Jumping Quadruped for Planetary Exploration Utilizing Reinforcement Learning for In-Flight Attitude Controlcited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026Towards Low-Gravity Planetary Exploration using Reinforcement Learning for Walking, Jumping, and In-flight Attitude Controlcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
  2. 2025Jump-Start Reinforcement Learning with Self-Evolving Priors for Extreme Monopedal Locomotion
  3. 2025Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
  4. 2025Gait in Eight: Efficient On-Robot Learning for Omnidirectional Quadruped Locomotion
  5. 2026Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space ↗
  6. 2025Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing
  7. 2024Impedance Matching: Enabling an RL-Based Running Jump in a Quadruped Robot
  8. 2024Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives