ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics

arXiv:2610.09315 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Code: https://github.com/Space-Robotics-Laboratory/ClimbLab

Terminology

• Gravito-Inertial Acceleration — 4× in this paper
• Tumble Stability Margin — 3× in this paper
• Energy Efficiency — 2× in this paper · explained in 3 episodes
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Point Cloud Data — 1× in this paper · explained in 2 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving