Event
Cubic Doggo push-resistance training improves only 0.5N in two weeks
1 reports · 1 sources
Reddit user /u/SphericalCowww shared progress on push-recovery training for the quadruped robot Cubic Doggo: using Gymnasium and SB3's PPO in MuJoCo to train standing while minimizing pitch and roll, then deploying the ONNX file back to MuJoCo, horizontal push resistance increased from 3.5N to 4N. In the second phase, push recovery training was added, treating horizontal force as domain randomization according to a curriculum schedule, but after two weeks of training the improvement was limited. The next step is planned to be balancing on fixed slopes and varying slopes, then deploying to Gazebo and the physical robot.
Report timeline
- Cubic Doggo reinforcement learning standing stability training update
Cubic Doggo used Gymnasium and SB3's PPO in MuJoCo to train standing while minimizing pitch and roll, and deployed the ONNX file back to MuJoCo, raising resistance to horizontal push from 3.5N to 4N. The second phase added "push recovery training," using horizontal force as domain randomization under a curriculum schedule, but after two weeks of training the improvement was limited. Next steps are balancing on fixed and varying slopes, then deployment to Gazebo and a physical robot.
Reddit r/robotics ·