- Locomotion
-
Fall Recovery -
Generate Terrain
![](https://private-user-images.githubusercontent.com/88181153/317550801-9edb3527-d3b1-4659-a122-6e0a7a7ce3b8.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQ4NjUzOTcsIm5iZiI6MTcyNDg2NTA5NywicGF0aCI6Ii84ODE4MTE1My8zMTc1NTA4MDEtOWVkYjM1MjctZDNiMS00NjU5LWExMjItNmUwYTdhN2NlM2I4LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MjglMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODI4VDE3MTEzN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTgxNDNhZjBkMWEwNzUyMTUwYTlmMGM5Y2Q4YWIzMzk4ZGFhYWI2YzRlYmJmYzNjOWVhOWQzZGU1MGViZWIyZjkmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.IcxSHWPbpQn3IBHuLNDCddPLme1P5T1IATASiAWf66E)
![](https://private-user-images.githubusercontent.com/88181153/327111820-28e22223-cf1b-4239-bcb7-02ea1726c519.gif?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQ4NjUzOTcsIm5iZiI6MTcyNDg2NTA5NywicGF0aCI6Ii84ODE4MTE1My8zMjcxMTE4MjAtMjhlMjIyMjMtY2YxYi00MjM5LWJjYjctMDJlYTE3MjZjNTE5LmdpZj9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MjglMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODI4VDE3MTEzN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTc2NjZkOWUxOTA1YmQxZDhiM2ZmOWQzYWUyZmViYTY3MDNhYzMxYmE2MGI0YjMwMGU1MTE4MTNjZjIwMWNhMzImWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.jVW5GTcej5WaIgmSesIR46C5_9B3tSfbwUYWYT2aBA8)
![](https://private-user-images.githubusercontent.com/88181153/326315502-38020cf5-6a52-4e2a-8a48-3542e39fe28f.jpeg?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQ4NjUzOTcsIm5iZiI6MTcyNDg2NTA5NywicGF0aCI6Ii84ODE4MTE1My8zMjYzMTU1MDItMzgwMjBjZjUtNmE1Mi00ZTJhLThhNDgtMzU0MmUzOWZlMjhmLmpwZWc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwODI4JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDgyOFQxNzExMzdaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1hODIwZmM2ZmY4OTc2OGE2NzRlOGZlNTE1NTU4ODE2MzZhOWQ4Yjc3ZWYxZjVlNDgyYjMyOTAyMGQyMWU1YmY3JlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.bPdZ_Jf6z_ZgK-ZUhXZwUMmtGaimumYudiiu5Q8eILY)
![](https://private-user-images.githubusercontent.com/88181153/327749726-00fc938e-0aa6-43d8-aec9-ebb66bf0f742.gif?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQ4NjUzOTcsIm5iZiI6MTcyNDg2NTA5NywicGF0aCI6Ii84ODE4MTE1My8zMjc3NDk3MjYtMDBmYzkzOGUtMGFhNi00M2Q4LWFlYzktZWJiNjZiZjBmNzQyLmdpZj9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MjglMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODI4VDE3MTEzN1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTIxYzBjOThlZWIwYjQzOTRlYTQzZjQ3OWIwZmVkZTczZmVmNjhiZDFkMGE0NDYzMGZjOTE2ZTkwYzBkMDdjYzQmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.ysZltVaYAyz8nEBzS5Lkn4Y4qhTPf1uYqhToWUfwVa0)
TODO
- HR robot model
- Locomotion in generated custom terrain
- Debug gathering height map information in generated custom terrain
Add 6d commands to low-level policy- Add spherical scans to high-level policy
Reference
- Learning manipulation and locomotion
- Fall recovery with manipulator
- Fall recovery using exteroception observation
Reference
- Multi-agent DRL
- Create URDF that includes two robots and stretcher, DOF : -
- Mapping using multi robot
Reference