Project Status Presentation

March 20, 2023

Tiny Robot Reinforcment Learning

A²R Lab

I’m Habeeba Mansour

• Senior
• CS and Chemistry major
• Do research at A²R Lab

Project Background

Bittle doing something cute!

• Realistic locomotion in robots has been a long-standing challenge
• Robots with a high number of degrees of freedom and multiple sensors have had success with locomotion
• Robots like Bittle with only 8 degrees of freedom and fewer sensors have not yet been able to achieve the same success
• We aim to train the Bittle robot to walk using reinforcement learning

Wins

NIVIDIA's Isaac Sim

• Found out everything NIVIDIA’s Isaac Sim doesn’t work on
• Scoped out different simulators
• Preparing algorithms to run once Isaac Sim is running

Plans for the rest of the semester

• Run RL algorithms on Isaac Sim
• Use transformers

Current Problems

• Still waiting on BCIT for the computer fix