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Thanks AK! Finally, robot can do continuous, agile, autonomous, adaptive jumping over stair and stepping stone Key idea: combine the pros of model-free RL and model-based control. RL (for CoM refs) + QP (for GRF) + WBC (for torque) Open-sourced:

Guanya Shi

7,637 subscribers

32,155 views • 1 year ago •via X (Twitter)

Science & Technology

Anya Rossi• Live Now

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4 Comments

Allen Z. Ren1 year ago

@_akhaliq It reminds me I was trying to get the Minitaur jumping the stairs (scripted controller) somewhere in Hamerschlag I think in 2018...Amazing to see how both software and hardware have gotten so much better since then!

Yaoyao(Freax) Qian1 year ago

@_akhaliq Interesting work!

Kashu Yamazaki1 year ago

@_akhaliq This is impressive!

Heng (Alfredo)Zhang1 year ago

@_akhaliq very impressive!

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