Sim-to-Real Learning of All Common Bipedal Gaits

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This is the accompanying video to our paper submitted to ICRA 2021,
'Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition,'
Jonah Siekmann, Yesh, Godse, Alan Fern

In this video, we show some hardware results of our reward-specification framework, which is flexible enough to train policies to learn all of the common bipedal gaits found in nature and perform them on a real Cassie robot.
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