# Agile perceptive multi-skill locomotion for quadrupedal robots in the wild

> Source: <https://skillquadsr.github.io/>
> Published: 2026-07-16 12:41:08+00:00

APT-RL first learns reusable locomotion representations from trajectory-optimization data and then uses these representations as priors for reinforcement learning on complex terrain.

Trajectory optimization based on single rigid body dynamics generated **180,000 trajectories
(15.5 hours of motion) in 8 minutes**. The dataset contains both state trajectories and their
corresponding control inputs.