Not a preplanned motion sequence.
A robot deciding mid-jump what to do next.
[📍 paper demo]
Researchers just showed a humanoid doing real parkour using only onboard perception. No motion script, no fixed obstacle layout.
The system is called Perceptive Humanoid Parkour (PHP).
Instead of memorizing a path, the robot reads depth from its cameras and continuously chooses actions. Step, vault, climb, or roll depending on what geometry appears in front of it.
To make that possible, they combine three ideas:
First, they stitch together human motion clips into long movement references so the robot learns fluid transitions instead of isolated tricks.
Second, they train tracking policies with reinforcement learning so contacts land at the right time and the robot keeps balance during dynamic moves.
Finally, everything is distilled into one perception policy that runs directly from depth input to action selection.
The result on a Unitree G1:
about 3 m/s vaults
wall climbs up to 1.25 m
nearly one minute continuous obstacle traversal
adapting when obstacles move
What matters is not the tricks.
It is the shift in capability.
Earlier humanoids executed motions.
This one navigates situations.
Once robots react to geometry instead of replaying trajectories, environments stop needing to be predictable. Warehouses, homes, and outdoors suddenly become the same problem.
Thanks for sharing,
@zhenkirito123!
Paper demo:
php-parkour.github.io
arxiv.org/abs/2602.15827
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