Robot Learns to Climb Stairs Blind

We successfully used reinforcement learning to train a recurrent neural network to control our bipedal robot Cassie to climb stairs without any perception sensors such as LIDAR or cameras. This video accompanies our submission to the 2021 Robotics: Science and System conference. A preprint of the full paper can be found here Blind Bipedal Stair Traversal via SimtoReal Reinforcement Learning Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan Hurst