{"id":"https://openalex.org/W4401415792","doi":"https://doi.org/10.1109/icra57147.2024.10610200","title":"Extreme Parkour with Legged Robots","display_name":"Extreme Parkour with Legged Robots","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415792","doi":"https://doi.org/10.1109/icra57147.2024.10610200"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101456600","display_name":"Xuxin Cheng","orcid":"https://orcid.org/0000-0003-2995-9349"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xuxin Cheng","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102002122","display_name":"Kexin Shi","orcid":"https://orcid.org/0009-0000-8494-003X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kexin Shi","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012500801","display_name":"Ananye Agarwal","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ananye Agarwal","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066151318","display_name":"Deepak Pathak","orcid":"https://orcid.org/0009-0004-4105-0466"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Deepak Pathak","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101456600"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":25.0034,"has_fulltext":false,"cited_by_count":135,"citation_normalized_percentile":{"value":0.99893303,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"11443","last_page":"11450"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13060","display_name":"Adventure Sports and Sensation Seeking","score":0.9814000129699707,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9208999872207642,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7350739240646362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5748092532157898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3310508728027344}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7350739240646362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5748092532157898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3310508728027344}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1993314711","https://openalex.org/W2070038508","https://openalex.org/W2075429750","https://openalex.org/W2131991591","https://openalex.org/W2284928260","https://openalex.org/W2460299708","https://openalex.org/W2736601468","https://openalex.org/W2739330054","https://openalex.org/W2788200022","https://openalex.org/W2809054577","https://openalex.org/W2909553221","https://openalex.org/W3001499506","https://openalex.org/W3006552748","https://openalex.org/W3008998212","https://openalex.org/W3010768390","https://openalex.org/W3090033167","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3175254947","https://openalex.org/W3206620955","https://openalex.org/W3207033168","https://openalex.org/W3207399992","https://openalex.org/W4205430897","https://openalex.org/W4205985701","https://openalex.org/W4250058668","https://openalex.org/W4253729359","https://openalex.org/W4283787029","https://openalex.org/W4312238192","https://openalex.org/W4312574175","https://openalex.org/W4313563129","https://openalex.org/W4383066575","https://openalex.org/W4383108291","https://openalex.org/W4383108576","https://openalex.org/W4385430486","https://openalex.org/W4385430644","https://openalex.org/W4386075970","https://openalex.org/W4389665475","https://openalex.org/W4392763392","https://openalex.org/W6640174482","https://openalex.org/W6741002519","https://openalex.org/W6798487212","https://openalex.org/W6801064428","https://openalex.org/W6801964084","https://openalex.org/W6802654813","https://openalex.org/W6839204832","https://openalex.org/W6846358943","https://openalex.org/W6846664724","https://openalex.org/W6857202355"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Humans":[0],"can":[1,132,149],"perform":[2,150],"parkour":[3,67,87],"by":[4,33],"traversing":[5],"obstacles":[6,155],"in":[7,58,127],"a":[8,54,81,89,97,115,123,151,167],"highly":[9,140],"dynamic":[10],"fashion":[11],"requiring":[12],"precise":[13,141],"eye-muscle":[14],"coordination":[15],"and":[16,38,96,108,136,169,174],"movement.":[17],"Getting":[18],"robots":[19],"to":[20,41,48,65,84,110,138,176],"do":[21,166],"the":[22],"same":[23],"task":[24],"requires":[25],"overcoming":[26],"similar":[27,82],"challenges.":[28],"Classically,":[29],"this":[30,77],"is":[31,105],"done":[32],"independently":[34],"engineering":[35],"perception,":[36],"actuation,":[37],"control":[39,142],"systems":[40],"very":[42],"low":[43],"tolerances.":[44],"This":[45],"restricts":[46],"them":[47],"tightly":[49],"controlled":[50],"settings":[51],"such":[52],"as":[53],"predetermined":[55],"obstacle":[56,178],"course":[57],"labs.":[59],"In":[60,76],"contrast,":[61],"humans":[62],"are":[63],"able":[64],"learn":[66],"through":[68],"practice":[69],"without":[70],"significantly":[71],"changing":[72],"their":[73],"underlying":[74],"biology.":[75],"paper,":[78],"we":[79],"take":[80],"approach":[83],"developing":[85],"robot":[86,92,148],"on":[88,154],"small":[90],"low-cost":[91],"with":[93,129,180],"imprecise":[94,134],"actuation":[95,137],"single":[98,116],"front-facing":[99],"depth":[100],"camera":[101,124],"for":[102],"perception":[103],"which":[104],"low-frequency,":[106],"jittery,":[107],"prone":[109],"artifacts.":[111],"We":[112,145],"show":[113,146],"how":[114],"neural":[117],"net":[118],"policy":[119],"operating":[120],"directly":[121],"from":[122],"image,":[125],"trained":[126],"simulation":[128],"large-scale":[130],"RL,":[131],"overcome":[133],"sensing":[135],"output":[139],"behavior":[143],"end-to-end.":[144],"our":[147],"high":[152],"jump":[153,160],"2x":[156,163],"its":[157,164],"height,":[158],"long":[159],"across":[161,171],"gaps":[162],"length,":[165],"handstand":[168],"run":[170],"tilted":[172],"ramps,":[173],"generalize":[175],"novel":[177],"courses":[179],"different":[181],"physical":[182],"properties.":[183],"Parkour":[184],"videos":[185],"at":[186],"https:":[187],"//extreme-parkour.github.io/.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":93},{"year":2024,"cited_by_count":33}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
