Learning Vision-Based Bipedal Locomotion for Challenging Terrain
Helei Duan,Bikram Pandit,Mohitvishnu S. Gadde,Bart Van Marum,Jeremy Dao,Chanho Kim,Alan Fern,Helei Duan,Bikram Pandit,Mohitvishnu S. Gadde,Bart Van Marum,Jeremy Dao,Chanho Kim,Alan Fern
Reinforcement learning (RL) for bipedal locomotion has recently demonstrated robust gaits over moderate terrains using only proprioceptive sensing. However, such blind controllers will fail in environments where robots must anticipate and adapt to local terrain, which requires visual perception. In this paper, we propose a fully-learned system that allows bipedal robots to react to local terrain w...
