This is the implementation of Teach biped robots to walk via gait principles and reinforcement learning with adversarial critics in Pytorch. Because Roboschool has deprecated, we have changed the simulator to Pybullet.

pip install -r requirements.txt

python code/main.py

python code/main.py --eval_only False --render False

For more related works and codes, please view my homepage: https://sites.google.com/view/kuangenzhang

Further information please contact Kuangen Zhang ([email protected]).

If you find our work useful in your research, please consider citing:

@article{zhang_teach_2019,
	title = {Teach biped robots to walk via gait principles and reinforcement learning with adversarial critics},
	urldate = {2020-07-10},
	journal = {arXiv:1910.10194 [cs]},
	author = {Zhang, Kuangen and Hou, Zhimin and de Silva, Clarence W. and Yu, Haoyong and Fu, Chenglong},
	month = oct,
	year = {2019},
}