End-to-End Reinforcement Learning for Quadrupedal Jumping in Lunar Gravity

Legged robots can extend planetary exploration to rugged and discontinuous terrain that is inaccessible to conventional rovers. In lunar gravity, jumping further expands this mobility by enabling robots to cross obstacles and gaps that cannot be traversed by walking alone. We present a multistage reinforcement-learning approach that produces a single end-to-end control policy for commanded point-to-point jumping under lunar gravity. The resulting policy has a simple architecture and relies exclusively on mission-compatible onboard sensing, making its deployment on a real lunar mission plausible. In simulation, the learned policy performs accurate point-to-point jumps with landing errors smaller than the robot's body size. We analyze the torque and power demands of lunar jumping and characterize performance degradation under extreme outlier events, including control-update freezes of up to s during flight. Hardware transfer demonstrates that the policy can successfully execute a vertical jump under lunar-gravity offloading. Furthermore, the measured torque and power profiles are consistent with the simulation results and remain within the robot's hardware limits.