Bipedal Locomotion

I worked on reinforcement learning based bipedal robot locomotion with Bolt10 model. Main task is to configure profound policy that applies well on real world robot.
State-Estimator Multi Layer Perceptron was concurrently trained to perform adaptive locomotion on alien terrains. The framework is as Figure below.

Simulation and learning is conducted on IsaacGym(NVIDIA) framework with cuda12.2. using RL framework rl_games.

Walking

Bipedal Balancing

Crouched Walking

Although I succeeded simulation of th e robot locomotion in legged_gym and rsl_rl environment, progress on implementing the task to rl_games was lagging. So I switched to Bolt6 model and am working on Sim2Real implementation at this moment.
This page will be updated as my research proceeds.