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Supplementary materials for "Learning Quadrupedal Locomotion over Challenging Terrain"

Author: Joonho Lee ([email protected])

This repo contains

  • trained policy networks for ANYmal c010 and c100 models.
    • c010 model is not trained with Slippery Hills terrain.
    • c100 is the latest model (added during the revision)
  • ANYmal environments implemented in Raisim simulator.
    • Height map terrain is included
    • In the visualizer, press 'c' key to sample new command
    • In the visualizer, press space key to re-initialize the robot

Dependencies

Third-party

Notes

  • Some paths are hard-coded in test_c010.cpp and test_c100.cpp. Be caureful about them.
  • This repository is not maintained anymore. If you have a question, send an email to [email protected].
  • We don't take questions regarding installation. If you install the dependencies successfully, you can easily run this.
  • For the codes in rsc/robot/, ANYbotics' license is applied. MIT license otherwise.
  • Install the dependencies in you local build directory and link as follows.
cmake -DCMAKE_INSTALL_PREFIX=${YOUR_LOCAL_BUILD_DIRECTORY} -DCMAKE_BUILD_TYPE=Release ..
  • You can install tensorflow-cpp locally as follows.
cd tensorflow/tensorflow
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=${YOUR_LOCAL_BUILD_DIRECTORY} -DCMAKE_BUILD_TYPE=Release ..
make install -j

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Supplementary materials for "Learning Locomotion over Challenging Terrain"

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