AME-2:

Agile and Generalized Legged Locomotion

via Attention-Based Neural Map Encoding

Authors: Chong Zhang, Victor Klemm, Fan Yang, Marco Hutter

ETH Zurich

Paper Link: https://arxiv.org/abs/2601.08485

Real World Results

journal_video_v2.mp4

More zero-shot results in simulation

debris4_tron.mp4

debris1_tron.mp4

jump_tron.mp4

debris2.mp4

parkour2.webm

parkour1.webm

debris3.mp4

debris1.mp4

debris4.mp4

Method

Policy Training

Policy Architecture

Neural Mapping

Prior Work

He, Junzhe, Chong Zhang, Fabian Jenelten, Ruben Grandia, Moritz Bächer, and Marco Hutter. "Attention-based map encoding for learning generalized legged locomotion." Science Robotics 10, no. 105 (2025): eadv3604.

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