Adapting Rapid Motor Adaptation for Bipedal Robots
Ashish Kumar,Zhongyu Li,Jun Zeng,Deepak Pathak,Koushil Sreenath,Jitendra Malik,Ashish Kumar,Zhongyu Li,Jun Zeng,Deepak Pathak,Koushil Sreenath,Jitendra Malik
Recent advances in legged locomotion have en-abled quadrupeds to walk on challenging terrains. However, bipedal robots are inherently more unstable and hence it's harder to design walking controllers for them. In this work, we leverage recent advances in rapid adaptation for locomotion control, and extend them to work on bipedal robots. Similar to existing works, we start with a base policy which ...
