{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/rloc-terrain-aware-legged-locomotion-using","title":"RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control","arxiv_id":"2012.03094","date":"2020-12-05","proceeding":null,"authors":["Siddhant Gangapurwala","Mathieu Geisert","Romeo Orsolino","Maurice Fallon","Ioannis Havoutis"],"abstract":"We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and desired base velocity commands into footstep plans using a reinforcement learning (RL) policy. This RL policy is trained in simulation over a wide range of procedurally generated terrains. When ran online, the system tracks the generated footstep plans using a model-based motion controller. We evaluate the robustness of our method over a wide variety of complex terrains. It exhibits behaviors which prioritize stability over aggressive locomotion. Additionally, we introduce two ancillary RL policies for corrective whole-body motion tracking and recovery control. These policies account for changes in physical parameters and external perturbations. We train and evaluate our framework on a complex quadrupedal system, ANYmal version B, and demonstrate transferability to a larger and heavier robot, ANYmal C, without requiring retraining.","url_abs":"https://arxiv.org/abs/2012.03094v3","url_pdf":"https://arxiv.org/pdf/2012.03094v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"rloc-terrain-aware-legged-locomotion-using","repo_url":"https://github.com/nickkunz/smogn","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"GPL-3.0"}}],"tasks":[{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}