Trajectory-Level Automatic Curriculum Learning for Legged Locomotion on Unstructured Terrain

Excerpt

arXiv:2608.16164v1 Announce Type: new Abstract: Training locomotion policies for complex unstructured terrain requires a curriculum to avoid early exploration failures. However, since unstructured terrain lacks explicit difficulty ordering for curriculum design, existing methods resort to heuristic curricula over parameterized terrains. This abstraction limits generalization, as policies can overadapt to near-fixed perceptual patterns. To address this, we propose \textbf{\ourname{}}, an \textbf{