Sim-to-real RL pipeline for wheeled biped robots

[stephane-caron]

Happily reporting that the open source Upkie wheeled biped robots now enjoy a complete sim-to-real [1] pipeline using Bullet 🙌

• We use Bullet Physics C++ rather than PyBullet
• Here is a short overview video of the pipeline
• Here is a real robot balancing with one such trained policy:

ppo_balancer_upkie_v3.mp4

Thanks to @erwincoumans and all the Bullet contributors for this project we can build on 😃

[1] Sim-to-Real: Learning Agile Locomotion For Quadruped Robots