Loco Jump: Adaptive jumping gait transition using a Learned Centroidal Controller

Reference trot pronk

• Reference trajectory is generated by heuristic and trajectory optimization.

Random trot pronk rl

• The go1 follows a random troting, pronking sequence command. It is trained without reference trajectories

Random trot bound pronk rl

• The go1 follows a random troting, bounding, pronking sequence command. It is trained without reference trajectories