Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads

no code implementations • 9 Apr 2022 • Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan Hurst

We show that prior RL policies trained for unloaded locomotion fail for some loads and that simply training in the context of loads is enough to result in successful and improved policies.

Reinforcement Learning (RL)