Learning Dynamic Bipedal Walking Across Stepping Stones
Helei Duan,Ashish Malik,Mohitvishnu S. Gadde,Jeremy Dao,Alan Fern,Jonathan Hurst,Helei Duan,Ashish Malik,Mohitvishnu S. Gadde,Jeremy Dao,Alan Fern,Jonathan Hurst
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively simple open-loop, perception-free scenarios. Our main contribution is a more advanced learning approach that enables real-world demonstrations, using the Cassie ...
