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Agility Robotics' Cassie Is Now Astonishingly Good at Stairs
- siekmanj 5y agoHey everyone, I am one of the authors of the paper described in this article. We used reinforcement learning and recurrent neural networks to learn a controller which can ascend and descend stairs without any vision-based perception, meaning that it must rely entirely on proprioception to walk. This is the first time (to our knowledge) that a human-sized bipedal robot has been able to climb real-world stairs blind to the world, and we're pretty excited about the results of this research. Here's a link to the Arxiv submission: https://arxiv.org/abs/2105.08328 https://arxiv.org/abs/2105.08328 And here's the accompanying video: https://youtu.be/MPhEmC6b6XU https://youtu.be/MPhEmC6b6XU And an uninterrupted five-minute video of a test on an outdoor staircase: https://youtu.be/nuhHiKEtaZQ https://youtu.be/nuhHiKEtaZQ Happy to answer any questions the HN crowd may have!