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MulDP: Multimodal Diffusion Policy for Autonomous Quadruped Parkour Navigation across Complex Terrains

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

Quadruped robots have demonstrated impressive agility in parkour locomotion across complex terrains. However, most systems still rely on human intervention for high-level planning, and autonomous parkour navigation remains underexplored. The key challenges include fine-grained velocity regulation, long-horizon anticipatory behaviors, and tight coupling between perception and embodied execution. To address these challenges, we propose a Multimodal Diffusion Policy (MulDP) that integrates visual perception with robot proprioception and goal information to generate temporally coherent and anticip

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