Humanoid Locomotion on Granular Terrain

We combine three-dimensional resistive force theory with terrain-adaptive reinforcement learning to train humanoids for granular surfaces, with hardware demonstrations on basalt, dry sand, and beach sand.

Basalt locomotion clip from the project page.

Behind the paper

Read the blog: Teaching a Humanoid to Walk on Shifting Ground.

Publication

Links

• Project page and full videos
• arXiv abstract
• Read the paper (PDF)