RealAnt: An Open-Source Low-Cost Quadruped for Research in Real-World Reinforcement Learning


Abstract in English

Current robot platforms available for research are either very expensive or unable to handle the abuse of exploratory controls in reinforcement learning. We develop RealAnt, a minimal low-cost physical version of the popular Ant benchmark used in reinforcement learning. RealAnt costs only $410 in materials and can be assembled in less than an hour. We validate the platform with reinforcement learning experiments and provide baseline results on a set of benchmark tasks. We demonstrate that the TD3 algorithm can learn to walk the RealAnt from less than 45 minutes of experience. We also provide simulato

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