In the past few years, we have covered a bunch of bipedal robots that can move on uneven terrain. Dynamic jumps can be challenging for them though. This video from Hybrid Robotics shows how a torque-controlled bipedal robot can perform dynamic jumps thanks to a multi-task reinforcement learning framework.
For this project, a Cassie robot was used. It can perform long jumps, jump onto elevated platforms, and make multi-axis jumps.