See Cheetah Run

Here is a MIT News article on “How the MIT mini cheetah learns to run”.

Thanks to modern simulation tools, our robot can accumulate 100 days’ worth of experience on diverse terrains in just three hours of actual time. We developed an approach by which the robot’s behavior improves from simulated experience, and our approach critically also enables successful deployment of those learned behaviors in the real world. The intuition behind why the robot’s running skills work well in the real world is: Of all the environments it sees in this simulator, some will teach the robot skills that are useful in the real world. When operating in the real world, our controller identifies and executes the relevant skills in real-time.

Here is the home page for the project: Agile Locomotion via Model-free Learning.

1 Like