TRAIN: Terrain-Aware Interactive Navigation for Quadruped Robots via Reinforcement Learning

arXiv:2602.12724 · cs.RO · Submitted 2026-02-13 · Read on arXiv

cs.RO

Submitted: 2026-02-13

Updated: 2026-10-15

Terminology

• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Actor — 1× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 3 episodes
• Deep Reinforcement Learning (DRL) — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies