Figure5

Figure 5. In the DRL-based real-world quadrupedal locomotion field, open problems mainly include sample efficiency, generalization and adaptation, partial observation, and reality gap. Future research directions are highlighted and pointed out around these open problems. Based on the current research states of quadrupedal locomotion, we expound the future research prospects from multiple perspectives. In particular, world models, skill data, and pre-trained models require significant attention, as these directions will play an integral role in realizing legged robot intelligence.