Ugo Richard Roux

Scooter-Driving Humanoid Robot: Sim-to-Real Transfer Through Deep Reinforcement Learning

This paper presents a simulation-to-reality (sim-to-real) transfer process, allowing a full-sized humanoid robot to autonomously balance a two-wheeled scooter and track operator-supplied heading commands through a deep reinforcement learning (DRL) policy, including while carrying a human passenger for the first time. T...