Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning · HackerPapers discussions

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning — mentioned by siekmanj

Thu, 20 May 2021 22:11:35 GMT

Hey everyone, I am one of the authors of the paper described in this article. We used reinforcement learning and recurrent neural networks to learn a controller which can ascend and descend stairs without any vision-based perception, meaning that it must rely entirely on proprioception to walk. This is the first time (to our knowledge) that a human-sized bipedal robot has been able to climb real-world stairs blind to the world, and we're pretty excited about the results of this research. Here's a link to the Arxiv submission: https://arxiv.org/abs/2105.08328 And here's the accompanying video…

Paper and discussion history. A mention is not an endorsement.

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning — HN submission

Wed, 19 May 2021 19:22:08 GMT

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning

6 points; 1 discussion reply on HN. Paper and source history. A submission is not an endorsement.

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning — mentioned by johnwarila

Wed, 19 May 2021 19:12:30 GMT

Demonstration Video: https://www.youtube.com/watch?v=MPhEmC6b6XU arXiv: https://arxiv.org/abs/2105.08328

Paper and discussion history. A mention is not an endorsement.