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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description" content="Robot Parkour Learning">
<meta name="keywords"
content="Legged Locomotion, Agile Locomotion, Parkour, Reinforcement Learning, Visuomotor Control, Sim-to-Real Transfer">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Robot Parkour Learning</title>
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<style>
@font-face {
font-family: 'FZSHJW';
src: url('./static/cn/FZSHJW.TTF') format('truetype');
}
</style>
<link rel="stylesheet" href="./static/css/bootstrap.min.css" />
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<meta property="og:title" content="Robot Parkour Learning" />
<meta property="og:description" content="by Ziwen Zhuang, Zipeng Fu, Chelsea Finn, Hang Zhao" />
<meta property="og:url" content="https://robot-parkour.github.io/" />
<meta property="og:image" content="https://robot-parkour.github.io/static/images/preview.gif" />
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<meta name="twitter:player:height" content="720" />
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<style>
:root {
--text-color: #000000;
--background-color: #ffffff;
}
pre {
background-color: var(--background-color);
color: var(--text-color);
}
</style>
</head>
<body>
<div class="container">
<!-- -fluid -->
<div class="row">
<div class="page">
<img class="page-image" src="././static/cn/banner.jpg" alt="" />
<div class="page-title">
<h1>Robot Parkour Learning</h1>
</div>
<div class="page-click">
<div class="page-name pc">
<a class="animation-link" href="https://ziwenzhuang.github.io/">Ziwen Zhuang*</a>
<a class="animation-link" href="https://zipengfu.github.io/">Zipeng Fu*</a>
<a class="animation-link" href="https://www.jianrenw.com/">Jianren Wang</a>
<a class="animation-link" href="http://www.cs.cmu.edu/~cga/">Christopher Atkeson</a>
<a class="animation-link" href="https://robotics.shanghaitech.edu.cn/people/soeren">Sören
Schwertfeger</a>
<a class="animation-link" href="https://ai.stanford.edu/~cbfinn/">Chelsea Finn</a>
<a class="animation-link" href="https://hangzhaomit.github.io/">Hang Zhao</a>
</div>
<div class="mob" style="width:100%;">
<div class="page-name" style="display:block;">
<div class=""
style="display:flex;justify-content:space-around;align-items:center;margin-bottom:0.5vh;">
<div style="flex:1;text-align:center;">
<a class="animation-link" href="https://ziwenzhuang.github.io/">Ziwen
Zhuang*</a>
</div>
<div style="flex:1;text-align:center;">
<a class="animation-link" href="https://zipengfu.github.io/">Zipeng Fu*</a>
</div>
</div>
<div class=""
style="display:flex;justify-content:space-around;align-items:center;margin-bottom:0.5vh;">
<div style="flex:1;text-align:center;">
<a class="animation-link" href="https://www.jianrenw.com/">Jianren Wang</a>
</div>
<div style="flex:1;text-align:center;">
<a class="animation-link" href="http://www.cs.cmu.edu/~cga/">Christopher
Atkeson</a>
</div>
</div>
<div class=""
style="display:flex;justify-content:space-around;align-items:center;margin-bottom:0.5vh;">
<div style="flex:1;text-align:center;">
<a class="animation-link"
href="https://robotics.shanghaitech.edu.cn/people/soeren">Sören
Schwertfeger</a>
</div>
<div style="flex:1;text-align:center;">
<a class="animation-link" href="https://ai.stanford.edu/~cbfinn/">Chelsea
Finn</a>
</div>
</div>
<div class="" style="display:flex;justify-content:space-around;align-items:center;">
<div style="flex:1;text-align:center;">
<a class="animation-link" href="https://hangzhaomit.github.io/">Hang Zhao</a>
</div>
<div style="flex:1;text-align:center;"></div>
</div>
</div>
</div>
<div class="" style="width:100%;display:flex;justify-content:center;">
<div class="namebottomImage">
<img src="./static/cn/new1.svg" alt="" />
<img src="./static/cn/new2.png" alt="" />
</div>
</div>
<div class="page-h3-name" style="margin-top:3vh;">
<h3 style="margin:0;">CoRL 2023 (Oral)</h3>
<h3 style="margin:0 0 1vh 0;color:red;">获奖:入围最佳系统论文奖(共3篇)</h3>
</div>
</div>
</div>
</div>
</div>
<div class="container">
<div class="row">
<div class="col-1"></div>
<div class="col-10">
<div class="page-btn page-btn2 pc">
<a href="./resources/Robot_Parkour_Learning.pdf">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
<a href="https://arxiv.org/abs/2309.05665">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
<a href="https://youtu.be/M7lDCSF0KP0">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>YouTube</span>
</a>
<a href="https://www.bilibili.com/video/BV1Nu4y1C7ae/">
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xmlns="http://www.w3.org/2000/svg" p-id="4035" width="20" height="20">
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fill="#ffffff" p-id="4036"></path>
</svg>
<span>Bilibili</span>
</a>
<a href="https://x.com/zipengfu/status/1701316023612219445?s=20">
<span class="icon">
<i class="fab fa-twitter"></i>
</span>
<span>Twitter</span>
</a>
<a href="https://github.com/ZiwenZhuang/parkour">
<span class="icon">
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</span>
<span>Code</span>
</a>
</div>
</div>
<div class="col-1"></div>
</div>
<div class="row mob" style="">
<div class="page-btn">
<a href="./resources/Robot_Parkour_Learning.pdf">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
<a href="https://arxiv.org/abs/2309.05665">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
<a href="https://youtu.be/M7lDCSF0KP0">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>YouTube</span>
</a>
<a href="https://www.bilibili.com/video/BV1Nu4y1C7ae/">
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<span>Bilibili</span>
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viewBox="0 0 496 512" data-fa-i2svg="">
<path fill="currentColor"
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</span>
<span>Code</span>
</a>
</div>
</div>
<div class="row">
<div class="col-1"></div>
<div class="col-10">
<div class="iframeBox">
<!-- <iframe src="https://www.bilibili.com/video/BV1Nu4y1C7ae/?spm_id_from=333.337.search-card.all.click&vd_source=1735f2ca2dd36592ef257941d82bc813" title="Robot Parkour Learning (CoRL 2022)"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe> -->
<iframe src="https://player.bilibili.com/player.html?aid=915865728&bvid=BV1Nu4y1C7ae&cid=1263670817&p=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>
</div>
</div>
<div class="col-1"></div>
</div>
<div class="row" style="">
<div class="page-h3">
<h3 style="margin:0;">摘要</h3>
</div>
<div class="col-1"></div>
<div class="col-10" style="padding-top:4vh;padding-bottom:4vh;">
<p class="abstract-text">
跑酷是对于足式机器人运动的一个巨大挑战,要求机器人在复杂环境中快速克服各种障碍。现有的方法要么通过预设地形进行没有自带外部感知能力的运动技能,或者采用基于视觉的方法针对每一个单独的技能收集参考的动物数据或者设计复杂的奖励函数。然而,自主跑酷要求机器人学习通用的、基于视觉的、多样化的技能,以感知和对各种情景做出反应。在这项工作中,我们提出了一个框架,通过使用简单的奖励而不需要任何参考运动数据,学习一个端到端的基于视觉的跑酷策略,可以自主执行各种跑酷技能。我们开发了一种通过direct
collocation启发的强化学习方法,生成跑酷技能,包括爬过高障碍、跃过大间隙、爬行通过低矮障碍、穿过狭缝以及奔跑等。我们将这些技能蒸馏成一个基于视觉的跑酷策略,并且只采用机器狗自带的深度相机感知外部环境。我们演示了我们的系统可以在两种不同低成本的机器人上自主选择并执行适当的跑酷技能,以穿越具有挑战性的现实环境。
</p>
</div>
<div class="col-1"></div>
</div>
<div class="row" style="">
<div class="page-h3">
<h3 style="margin:0;">爬过超高障碍物</h3>
</div>
<div class="col-12" style="padding:3vh 0;">
<div class="list-video">
<div class="list-video-box">
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/climb/climb_1_1.mp4" poster="./resources/loading-icon.gif"></video>
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/climb/climb_1_2.mp4" poster="./resources/loading-icon.gif"></video>
</div>
<div class="list-video-box">
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/climb/climb_2.mp4" poster="./resources/loading-icon.gif"></video>
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/climb/climb_husky_1.mp4" poster="./resources/loading-icon.gif"></video>
</div>
<div class="list-video-box">
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/climb/climb_night_2.mp4" poster="./resources/loading-icon.gif"></video>
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/climb/go1_climb_1.mp4" poster="./resources/loading-icon.gif"></video>
</div>
</div>
</div>
</div>
<div class="row" style="">
<div class="page-h3">
<h3 style="margin:0;">跳远</h3>
</div>
<div class="col-12" style="padding:3vh 0;">
<div class="list-video">
<div class="list-video-box">
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/leap/leap_indoor_1.mp4" poster="./resources/loading-icon.gif"></video>
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/leap/go1_leap_1.mp4" poster="./resources/loading-icon.gif"></video>
</div>
<div class="list-video-box">
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/leap/leap_1_1.mp4" poster="./resources/loading-icon.gif"></video>
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/leap/leap_1_2.mp4" poster="./resources/loading-icon.gif"></video>
</div>
</div>
</div>
</div>
<div class="row" style="">
<div class="page-h3">
<h3 style="margin:0;">爬过低矮障碍物</h3>
</div>
<div class="col-12" style="padding:3vh 0;">
<div class="list-video">
<div class="list-video-box">
<video class="video-box video-list" controls autoplay loop muted playsinline
src="./resources/crawl/go1_crawl_1.mp4" poster="./resources/loading-icon.gif"></video>
<video class="video-box video-list" controls autoplay loop muted playsinline
src="./resources/crawl/crawl_1_5.mp4" poster="./resources/loading-icon.gif"></video>
</div>
<div class="list-video-box">
<video class="video-box video-list" controls autoplay loop muted playsinline
src="./resources/crawl/crawl_2_2.mp4" poster="./resources/loading-icon.gif"></video>
<video class="video-box video-list" controls autoplay loop muted playsinline
src="./resources/crawl/crawl_1_4.mp4" poster="./resources/loading-icon.gif"></video>
</div>
</div>
</div>
</div>
<div class="row" style="">
<div class="page-h3">
<h3 style="margin:0;">穿过窄封</h3>
</div>
<div class="col-12" style="padding:3vh 0;">
<div class="list-video">
<div class="list-video-box">
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/tilt/tilt_1.mp4" poster="./resources/loading-icon.gif"></video>
<video class="video-box" controls autoplay loop muted playsinline
src="./resources/tilt/tilt_2.mp4" poster="./resources/loading-icon.gif"></video>
</div>
</div>
</div>
</div>
<div class="row" style="">
<div class="page-h3">
<h3 style="margin:0;">涌现出重复尝试的行为</h3>
</div>
<div class="col-12" style="padding-top:4vh;padding-bottom:4vh;">
<p class="abstract-text">
我们的跑酷策略允许机器人在初次尝试失败以后,持续重复尝试通过障碍物。通过强化学习策略,机器狗学会了将自己推离障碍物,从而保证自己有足够的准备距离再次尝试通过障碍物。
</p>
</div>
</div>
<div class="row">
<div class="col-12 col-box" style="">
<div class="Emergent-video" style="width:100%;">
<video controls autoplay loop muted playsinline src="./resources/retry/retry_1.mp4"
poster="./resources/loading-icon.gif"></video>
<video controls autoplay loop muted playsinline src="./resources/retry/retry_2.mp4"
poster="./resources/loading-icon.gif"></video>
</div>
</div>
</div>
<div class="row pc" style="">
<div class="page-h3">
<h3 style="margin:0;">方法</h3>
</div>
<div class="col-12" style="padding-top:4vh;padding-bottom:4vh;">
<div class="timeLine">
<div class="timeLine-title">
<div class="timeLine-title-tag1"></div>
第一阶段:采用软动力学约束的强化学习预训练
</div>
<div class="timeLine-text">
<p>
在强化学习预训练阶段,我们允许机器人穿过设定好的障碍物。并且,我们通过自动调整任务难度的方式来保证软动力学约束的合理性。这样的惩罚项鼓励机器人逐渐学会克服这些障碍物,并且避免穿透障碍物。
</p>
</div>
<div class="" style="width:100%;display:flex;justify-content:center;">
<video style="width:60%;" controls autoplay loop muted playsinline
src="./resources/method/soft-dyanmics.mp4"
poster="./resources/loading-icon.gif"></video>
</div>
<div class="timeLine-title">
<div class="timeLine-title-tag1"></div>
第二阶段:采用强动力学约束的强化学习微调
</div>
<div class="timeLine-text">
<p>
在强化学习微调阶段,我们强制执行所有的动力学约束,并且微调了第一阶段训练的策略。
</p>
</div>
<div class="" style="width:100%;display:flex;justify-content:center;">
<video style="width:60%;" controls autoplay loop muted playsinline
src="./resources/method/hard-dynamics.mp4"
poster="./resources/loading-icon.gif"></video>
</div>
<div class="timeLine-title">
<div class="timeLine-title-tag1"></div>
第三阶段:通过蒸馏的方式训练一个基于视觉的跑酷策略
</div>
<div class="timeLine-text">
<p>
在训练好每一个模拟环境中的跑酷策略后,我们采用DAgger的方式将他们蒸馏成一个单独的跑酷策略,并且部署在机器狗上。只采用机器狗自带的传感器以及机载算力。
</p>
</div>
<div class="timeLine-image" style="width:100%;display:flex;justify-content:center;">
<img src="./resources/method/distillation.png" alt="" style="width:60%;" />
</div>
</div>
</div>
</div>
<div class="row mob" style="">
<div class="page-h3">
<h3 style="margin:0;">方法</h3>
</div>
<div class="col-12" style="padding-bottom:4vh;">
<div class="timeLine">
<div class="timeLine-title">
<div class="timeLine-title-tag1"></div>
第一阶段:采用软动力学约束的强化学习预训练
</div>
<div class="timeLine-text">
<p>
在强化学习预训练阶段,我们允许机器人穿过设定好的障碍物。并且,我们通过自动调整任务难度的方式来保证软动力学约束的合理性。这样的惩罚项鼓励机器人逐渐学会克服这些障碍物,并且避免穿透障碍物。
</p>
</div>
<video controls autoplay loop muted playsinline src="./resources/method/soft-dyanmics.mp4"
poster="./resources/loading-icon.gif"></video>
<div class="timeLine-title">
<div class="timeLine-title-tag1"></div>
第二阶段:采用强动力学约束的强化学习微调
</div>
<div class="timeLine-text">
<p>
在强化学习微调阶段,我们强制执行所有的动力学约束,并且微调了第一阶段训练的策略。
</p>
</div>
<video controls autoplay loop muted playsinline src="./resources/method/hard-dynamics.mp4"
poster="./resources/loading-icon.gif"></video>
<div class="timeLine-title">
<div class="timeLine-title-tag1"></div>
第三阶段:通过蒸馏的方式训练一个基于视觉的跑酷策略
</div>
<div class="timeLine-text">
<p>
在训练好每一个模拟环境中的跑酷策略后,我们采用DAgger的方式将他们蒸馏成一个单独的跑酷策略,并且部署在机器狗上。只采用机器狗自带的传感器以及机载算力。
</p>
</div>
<div class="timeLine-image" style="width:100%;display:flex;justify-content:center;">
<img src="./resources/method/distillation.png" alt="" style="width:60%;" />
</div>
</div>
</div>
</div>
<!-- <div class="row" style="">
<div class="page-h3">
<h3 style="margin:0;">失败案例</h3>
</div>
<div class="col-12" style="padding-top:4vh;padding-bottom:4vh;">
<div class="Failure-layout">
<div class="Failure-box">
<video style="display:block;" controls autoplay loop muted playsinline
src="./resources/failures/failure-climb-too-high.mp4"
poster="./resources/loading-icon.gif"></video>
<div class="Failure-text">
<p style="">
The robot fails to climb very high obstacles of 0.8m, three times the robot height.
</p>
</div>
</div>
<div class="Failure-box">
<video style="display:block;" controls autoplay loop muted playsinline
src="./resources/failures/failure-leap-low-friction.mp4"
poster="./resources/loading-icon.gif"></video>
<div class="Failure-text">
<p style="">
The robot fails to leap on a low-friction platform. The rear legs slip during
leaping leading to not much forward momentum for the robot to reach the other side.
</p>
</div>
</div>
<div class="Failure-box">
<video style="display:block;" controls autoplay loop muted playsinline
src="./resources/failures/failure-climb-soft-objects.mp4"
poster="./resources/loading-icon.gif"></video>
<div class="Failure-text">
<p style="">
The robot fails to climb a high and soft obstacle.
</p>
</div>
</div>
</div>
</div>
</div> -->
<div class="row" style="">
<div class="page-h3">
<h3 style="margin:0;">引用这篇工作</h3>
</div>
<div class="col-12" style="padding-top:4vh;padding-bottom:2vh;">
<div class="footercode" style="">
<pre class="preClass" style="padding:1vh 1vw;border-radius:4px;"><code>@inproceedings{zhuang2023robot,
author = {Zhuang, Ziwen and Fu, Zipeng and Wang, Jianren and Atkeson, Christopher and Schwertfeger, Sören and Finn, Chelsea and Zhao, Hang},
title = {Robot Parkour Learning},
booktitle = {Conference on Robot Learning ({CoRL})},
year = {2023},
}</code></pre>
</div>
</div>
</div>
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