# FCTS: Failure-Guided Curriculum Tree Search for Generating Terrain to Improve Quadruped Parkour Policies

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/oa2ssa7da3escb4qly7a1dcwu
- Original: https://arxiv.org/abs/2610.22619

## Summary

FCTS is a failure-conditioned terrain curriculum framework that uses localized traversal failures to automatically generate the terrain a policy should train on next. Each failure's location, termination mode, robot state, and surrounding terrain geometry jointly condition the generation process, and Monte Carlo Tree Search explores alternative curriculum trajectories under a fixed training budget.