Decentralized Multi-Biped Controller (DecMBC)

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

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)