I've seen a crawling robot trained with a string which would pull it back to the starting position after each episode so it could automatically try over and ove

I've seen a crawling robot trained with a string which would pull it back to the starting position after each episode so it could automatically try over and over again. I'd love to see someone doing that with a biped and just lift it up on a hoist to reset its orientation and position whenever it fell over. But really, it might not make a lot of economic sense if you can simulate the physics like these guys are doing.