# JEPLO: Terrain-Adaptive Gait Control for Quadruped Robots Based on JEPA and LiDAR Perception

- Source: Guyuehome
- Published: 2026-10-29T06:25:00.000Z
- RoboHot: https://robohot.news/en/items/pa1qlxlbhosmfaoxny2hicui8
- Original: https://www.guyuehome.com/detail?id=2103918399743619073

## Summary

JEPLO proposes a terrain-adaptive gait control method for quadruped robots that aggregates single-LiDAR point clouds into depth observations and predicts the next-beat latent variable in latent space, without reconstructing images. The method is supplemented by teacher-student distillation and distribution regularization; pretrained weights are reproduced in simulation, and principal component analysis of the latent variables clusters clearly by terrain.