Agile perceptive multiskill locomotion for quadrupedal robots in the wild

Enabling quadrupedal robots to traverse complex terrains, from rugged outdoor environments to urban landscapes, requires seamless integration of multiple motor skills, smooth transitions between gaits, and high-speed perceptive locomotion using only onboard sensors. We present APT-RL (action pretrained transformer-based reinforcement learning), a unified framework that enables multiskill locomotion to achieve high-speed traversal in complex environments through autonomous skill transitions using only onboard perception and computation. Our approach generates large-scale, feature-rich two-dimensional (2D) motion datasets through trajectory optimization with simplified dynamics. These datasets enable training of diverse, reusable locomotion skills that transfer effectively to a real quadruped robot operating on complex uneven terrains. The resulting high-quality skills serve as strong priors for efficient learning of complex downstream tasks and extend naturally to 3D environments, enabling smooth, high-speed multiskill locomotion in deployed policy. Real-world experiments demonstrate the framework's capabilities: The robot performed agile maneuvers through complex indoor obstacles and outdoor wild environments, including dynamic drop-down maneuvers that reached instantaneous peak speeds of up to 6 meters per second. A single onboard policy enabled robust traversal of diverse obstacles, including stairs, hurdles, stepping stones, gaps, and fallen branches, demonstrating the versatility and effectiveness of our approach.