Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation

Hongming Chen, Zhuoran Li, Hongxi Wang, Jiangpeng Hu, Ziliang Li, Peize Liu, Qingrui Zhao, Xuhao Liu, Liang Pan, Ximin Lyu, Yuntao Ma, Tingxiang Fan

arXiv preprint arXiv:2608.02653 · 2026

Abstract

A perceptive whole-body locomotion policy uses onboard depth sensing and velocity commands to select and transition between walking, balancing, climbing, and vaulting skills.