ParkourFormer: Integrating Predictive Supervision and Sequence Modeling into Parkour Locomotion

arXiv:2605.25782 · cs.RO · Submitted 2026-05-25 · Read on arXiv

cs.RO

Submitted: 2026-05-25

Updated: 2026-10-12

Terminology

• Transformer — 2× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer
• Training a Helpful and Harmless Assistant with Reinforcement Learning from Human Feedback
• Data-Efficient Reinforcement Learning with Self-Predictive Representations
• ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
• Expressive Whole-Body Control for Humanoid Robots
• Barkour: Benchmarking Animal-level Agility with Quadruped Robots
• Quadruped Parkour Learning: Sparsely Gated Mixture of Experts with Visual Input
• RMA: Rapid Motor Adaptation for Legged Robots
• Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids
• Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
• Proximal Policy Optimization Algorithms

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