This work makes a humanoid robot do simple parkour moves by looking with a depth camera and choosing the right move on the fly. The big deal is that it turns lots of small human moves into long, real-time robot behavior, without hand-coding every transition or retraining for each... new course. A humanoid robot is usually good at steady walking, but it often fails when it has to do fast moves like jumping up, vaulting, or rolling, and then keep going to the next obstacle. The hard part is that you cannot easily collect training data for every possible obstacle shape, distance, and mistake, so robots end up learning a few moves that only work in a narrow setup. This work starts from short clips of real human parkour moves, like stepping over, vaulting, climbing, and rolling. It uses motion matching, which is basically a smart “pick the next clip that fits best right now” search, to stitch those short clips into a long, smooth plan that looks like a human doing a whole course. Then it trains a controller with reinforcement learning (RL), which means the robot learns by trial and error to copy that plan while staying balanced and not falling. After training separate expert controllers for different moves, it compresses them into 1 controller that uses only onboard depth sensing and a simple “go this fast in this direction” command. In real tests on a Unitree G1 humanoid, it can clear multiple obstacles in a row, adapt when obstacles get moved, and climb a wall up to 1.25m.show more

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