Learning Bipedal Walking On Planned Footsteps For Humanoid Robots

1 code implementation • 26 Jul 2022 • Rohan Pratap Singh, Mehdi Benallegue, Mitsuharu Morisawa, Rafael Cisneros, Fumio Kanehiro

To enable the application of RL policies for humanoid robots in real-world settings, it is crucial to build a system that can achieve robust walking in any direction, on 2D and 3D terrains, and be controllable by a user-command.

Reinforcement Learning (RL)