Korea Advanced Institute of Science and Technology（韩国科学技术院）

Agile perceptive multi-skill locomotion for quadrupedal robots in the wild

野外四足机器人的敏捷感知多技能运动

Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song, Joon-Ha Kim, Seungwoo Hong, Hae-Won Park

机构 * Agency for Defense Development（国防发展局） ； Korea Advanced Institute of Science and Technology（韩国科学技术院） ； DIDEN Robotics（迪登机器人公司） ； Korea University（韩国大学） 纠错

AI总结 研究使四足机器人在复杂地形实现多技能运动的问题，提出 APT-RL 框架，利用机载感知和计算自主转换技能，通过轨迹优化生成数据集训练技能，经实验验证该框架能让机器人在复杂环境敏捷机动，稳健穿越多样障碍物。

Comments Project page: https://skillquadsr.github.io/ ,This is the author's version of the work. It is posted here by permission of the AAAS for personal use, not for redistribution. The definitive version was published in Science Robotics on 7.15.2026; doi: 10.1126/scirobotics.adz7397. Jun-Gill Kang and Jaehyun Park are co-first authors. Seungwoo Hong and Hae-Won Park are co-corresponding authors