Decentralized Multi-Biped Controller (DecMBC)

January 24, 2025 ยท View on GitHub

Payload transport over varying terrain via highly configurable multi-biped robot carriers.

Demo Video Paper Website

Overview

This project implements a decentralized control strategy for multiple bipedal robots, building upon the work from RoadRunner. Please follow the RoadRunner repository for environment setup.

Features

  • Decentralized control policy for multi-biped systems
  • Support for both flat and uneven terrain navigation
  • Pre-trained models for immediate testing
  • Customizable terrain configurations

Quick Start

Prerequisites

Follow instructions from RoadRunner

Evaluation

  1. Flat Terrain Evaluation

    ./scripts/eval_cassiepede.sh

  2. Uneven Terrain Evaluation

    ./scripts/eval_cassiepede_terrain.sh

  3. Custom Terrain Configuration

    Modify the terrain parameters in the evaluation scripts:

    # Example: Change terrain index
--terrain 2  # Choose from available terrain types (0-5)