Humanoid Parkour Learning

Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a trajectory for a single parkour track or train a reinforcement learning policy only to walk with a significant amount of motion references. In this work, we propose a framework for learning an end-to-end vision-based whole-body-control parkour policy for humanoid robots that overcomes multiple parkour skills without any motion prior. Using the parkour policy, the humanoid robot can jump on a 0.42m platform, leap over hurdles, 0.8m gaps, and much more. It can also run at 1.8m/s in the wild and walk robustly on different terrains. We test our policy in indoor and outdoor environments to demonstrate that it can autonomously select parkour skills while following the rotation command of the joystick. We override the arm actions and show that this framework can easily transfer to humanoid mobile manipulation tasks. Videos can be found at https://humanoid4parkour.github.io

Robot Parkour Learning

Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized skills by using reference animal data or complex rewards. However, autonomous parkour requires robots to learn generalizable skills that are both vision-based and diverse to perceive and react to various scenarios. In this work, we propose a system for learning a single end-to-end vision-based parkour policy of diverse parkour skills using a simple reward without any reference motion data. We develop a reinforcement learning method inspired by direct collocation to generate parkour skills, including climbing over high obstacles, leaping over large gaps, crawling beneath low barriers, squeezing through thin slits, and running. We distill these skills into a single vision-based parkour policy and transfer it to a quadrupedal robot using its egocentric depth camera. We demonstrate that our system can empower two different low-cost robots to autonomously select and execute appropriate parkour skills to traverse challenging real-world environments.

SEMI: Self-supervised Exploration via Multisensory Incongruity

Efficient exploration is a long-standing problem in reinforcement learning. In this work, we introduce a self-supervised exploration policy by incentivizing the agent to maximize multisensory incongruity, which can be measured in two aspects: perception incongruity and action incongruity. The former represents the uncertainty in multisensory fusion model, while the latter represents the uncertainty in an agent's policy. Specifically, an alignment predictor is trained to detect whether multiple sensory inputs are aligned, the error of which is used to measure perception incongruity. The policy takes the multisensory observations with sensory-wise dropout as input and outputs actions for exploration. The variance of actions is further used to measure action incongruity. Our formulation allows the agent to learn skills by exploring in a self-supervised manner without any external rewards. Besides, our method enables the agent to learn a compact multimodal representation from hard examples, which further improves the sample efficiency of our policy learning. We demonstrate the efficacy of this formulation across a variety of benchmark environments including object manipulation and audio-visual games.