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nicrusso7 / rex-gym

OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
Apache License 2.0
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Considerations for 'Learning Quadrupedal Locomotion over Challenging Terrain' Paper #24

Closed derektan95 closed 2 years ago

derektan95 commented 3 years ago

Hi @nicrusso7,

Thank you for this fantastic effort in making this niche field open sourced. I was browsing through your source code as well as the research paper that inspired this work, and made some comparisons with more recent advancements in Deep Reinforcement Learning for robotic quadrupeds.

1) How much effort is required to use this existing work to train another robotic quadruped of an entirely different set of URDF? For instance, how much changes do we need to do in order to train the Anymal Model C robot (URDF here)?

2) If adapting the existing framework to accomodate other types of quadrupeds is simple, how much effort is required to update the the approach to match current approaches? For instance, the work as shown by the ETH Zurich's Robotics Systems Lab? (For one, they use Raisim while this repository is in the OpenAI Gym environment)

I am really excited about the prospect of Legged robots, and would love to invest the time to furthering the work in this repository. Looking forward to hearing from you!

Regards, Derek

nicrusso7 commented 3 years ago

Hi, thanks for your message.

The envs are actually strictly tailored on the spotmicro model (trajectories references, simulation params and so on..) so may be complex reusing the very same code for any other robot platform.

In order to support different robot platforms, I’ve created the robot-gym repo where I’m trying to have a more generic approach. In this repo you can find 2 different robots implemented (check the k3lso branch).

Any feedback/contribution is welcome!

nicrusso7 commented 2 years ago

Closing the issue. Feel free to continue this thread anyway.