bittle-simulation

Using Reinforcement Learning to Train Petoi's Bittle Quadruped Robot

Usage

• bittle_env.py: Custom OpenAI Gym environment using Pybullet
• bittle_train.py: Driver to create gym environment, train model, and save model within the Training directory
• bittle_watch.py: Load trained model and view Bittle being simulated in Pybullet's GUI

Trained Example

Watch Bittle Walk

python bittle_watch.py

Train Bittle

python bittle_train.py

Applying an Imitation Learning Framework to Train Bittle (In Progress)

References

• Bittle URDF and obj files
• Prior Work
• Imitation Learning