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Robot."],"published-print":{"date-parts":[[2026,7,15]]},"abstract":"<jats:p>Enabling quadrupedal robots to traverse complex terrains, from rugged outdoor environments to urban landscapes, requires seamless integration of multiple motor skills, smooth transitions between gaits, and high-speed perceptive locomotion using only onboard sensors. We present APT-RL (action pretrained transformer\u2013based reinforcement learning), a unified framework that enables multiskill locomotion to achieve high-speed traversal in complex environments through autonomous skill transitions using only onboard perception and computation. Our approach generates large-scale, feature-rich two-dimensional (2D) motion datasets through trajectory optimization with simplified dynamics. These datasets enable training of diverse, reusable locomotion skills that transfer effectively to a real quadruped robot operating on complex uneven terrains. The resulting high-quality skills serve as strong priors for efficient learning of complex downstream tasks and extend naturally to 3D environments, enabling smooth, high-speed multiskill locomotion in deployed policy. Real-world experiments demonstrate the framework\u2019s capabilities: The robot performed agile maneuvers through complex indoor obstacles and outdoor wild environments, including dynamic drop-down maneuvers that reached instantaneous peak speeds of up to 6 meters per second. A single onboard policy enabled robust traversal of diverse obstacles, including stairs, hurdles, stepping stones, gaps, and fallen branches, demonstrating the versatility and effectiveness of our approach.<\/jats:p>","DOI":"10.1126\/scirobotics.adz7397","type":"journal-article","created":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T18:00:02Z","timestamp":1784138402000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":0,"title":["Agile perceptive multiskill locomotion for quadrupedal robots in the wild"],"prefix":"10.1126","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6578-6989","authenticated-orcid":true,"given":"Jun-Gill","family":"Kang","sequence":"first","affiliation":[{"name":"Agency for Defense Development, Daejeon 34186, Republic of Korea."},{"name":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-1512-3317","authenticated-orcid":true,"given":"Jaehyun","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-9817-8684","authenticated-orcid":true,"given":"Tae-Gyu","family":"Song","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4928-9696","authenticated-orcid":true,"given":"Joon-Ha","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of Korea."},{"name":"DIDEN Robotics, Seoul 04799, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7838-3839","authenticated-orcid":true,"given":"Seungwoo","family":"Hong","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Korea University, Seoul 02841, Republic of Korea."},{"name":"School of Smart Mobility, Korea University, Seoul 02841, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6130-6589","authenticated-orcid":true,"given":"Hae-Won","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/292239a0"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2021.0937"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.3390\/ani10071219"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1580\/0953-9859-3.3.292"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.2460\/javma.2004.225.854"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2008.03.014"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adi9754"},{"key":"e_1_3_2_9_2","doi-asserted-by":"crossref","unstructured":"M. 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