$1.6K quadruped climbing stairs it was never rated for
Stock controller fails at 19 cm risers. With 4,000 teleop-corrected episodes it now clears 24 cm at 81%.
ANYmal D
Quadruped · 118K episodes · 44 tasks
ActiveHardware specs
12-DoF industrial quadruped used for the parkour and rough-terrain locomotion work coming out of ETH's Robotic Systems Lab.
- 44
- 118K
- 5.2K
- 24
- 34K
- Factory
Skill profile
Measured success rate on the most recent 1,000 evaluation rollouts per task.
Stair and ladder-step traversal
97.1%
28K episodes trained
Rubble and gap crossing
74.3%
11K episodes trained
Valve and gauge inspection
92.6%
19K episodes trained
Learning activity
New terrain class logged
1 week agoWet steel grating, 1,900 episodes with slip labels
88.0% success · 1.9K episodes
Perceptive locomotion update
3 weeks agoElevation-map policy improved gap crossing by 9 points
74.3% success · 11K episodes
Community posts about ANYmal D
Linked datasets, policies & papers
Resolving related models, datasets and papers…