# Towards Low-Gravity Planetary Exploration using Reinforcement Learning for Walking, Jumping, and In-flight Attitude Control

arXiv: https://arxiv.org/abs/2605.24643 · HTML: https://mlsanity.com/paper/2605.24643/

## 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 11 of its 20 references that are in the map.
- First posted on arXiv 23 May 2026.

## Placed in

- Deep reinforcement learning methods / [RL for robot locomotion and manipulation](https://mlsanity.com/deeprl/rl-for-robot-locomotion-and-manipulation/)

## Builds on (most cited first, 11 of 11)

- [Learning Quadrupedal Locomotion over Challenging Terrain](https://mlsanity.com/paper/2010.11251/) (2020)
- [Sim-to-Real: Learning Agile Locomotion For Quadruped Robots](https://mlsanity.com/paper/1804.10332/) (2018)
- [Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments](https://mlsanity.com/paper/2301.04195/) (2023)
- [Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots](https://mlsanity.com/paper/2307.10079/) (2023)
- [Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design](https://mlsanity.com/paper/2401.16337/) (2024)
- [Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning](https://mlsanity.com/paper/2106.09357/) (2021)
- [Towards Energy Efficient Autonomous Exploration of Mars Lava Tube with a Martian Coaxial Quadrotor](https://mlsanity.com/paper/2211.06905/) (2022)
- [Flying, Hopping Pit-Bots for Cave and Lava Tube Exploration on the Moon and Mars](https://mlsanity.com/paper/1701.07799/) (2017)
- [Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration](https://mlsanity.com/paper/2311.03854/) (2023)
- [Olympus: A Jumping Quadruped for Planetary Exploration Utilizing Reinforcement Learning for In-Flight Attitude Control](https://mlsanity.com/paper/2503.03574/) (2025)
- [Towards Quadrupedal Jumping and Walking for Dynamic Locomotion using Reinforcement Learning](https://mlsanity.com/paper/2510.24584/) (2025)

## Abstract (arXiv)

This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar leg design, we develop RL policies for walking, vertical jumping, forward jumping, and in-flight attitude control, explicitly tailored to the reduced gravity on Mars. These policies jointly enable such robots to overcome obstacles larger than themselves through coordinated jumping and precise in-flight reorientation for safe landings. We demonstrate Sim2Real transfer of the attitude control policy on the Olympus quadruped through single-axis reorientation tests, while all locomotion policies are validated in simulation. A complete Mars exploration mission scenario demonstrates coordinated policy deployment across challenging terrain. Experimental results show 90deg attitude reorientation in 2.6 seconds, with simulations demonstrating 3.1 meter vertical jumps and 3.9 meter forward jumps under Martian gravity conditions. - Supplementary video: https://www.youtube.com/watch?v=qlSJ3P87A4A