Robot hesitates/stalls and oscillates before stairs during Parkour task inference

[hkhkhkz]

Hello author,

I am currently reproducing the Parkour task, but I've encountered a persistent issue where the robot seems "reluctant" to step onto the stairs.

As shown in the attached video, when the robot approaches the stairs, the base starts to oscillate back and forth (shaking), and it fails to initiate a successful stepping motion to climb.

I would appreciate any insights into what might be causing this behavior. Specifically:

1.Is this likely due to a lack of sufficient exploration during the RL training phase?

2.Could it be related to the reward shaping (e.g., the penalty for base acceleration or joint torques being too high)?

Thank you for your help!

2026.04.02.13.37.24.webm

[zst1406217]

It seems that you changed the default Unitree G1 robot to your custom robot. In that case, additional reward shaping is necessary. Try decreasing the "is alive" reward and increasing the "linear velocity tracking" reward.