Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking
Helei Duan,Ashish Malik,Jeremy Dao,Aseem Saxena,Kevin Green,Jonah Siekmann,Alan Fern,Jonathan Hurst,Helei Duan,Ashish Malik,Jeremy Dao,Aseem Saxena,Kevin Green,Jonah Siekmann,Alan Fern,Jonathan Hurst
Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In order to maintain balance, the learned controllers have full freedom of where to place the feet, resulting in highly robust gaits. In the real world however, the environment will often impose constraints on the feasible foot...
