Challenge

The MRSS hands-on sessions and competition will give students the opportunity to apply the concepts and techniques learned during the summer school through a challenge involving a Go1 Quadruped Robot (Fido, the hungry dog). To successfully complete the challenge, teams of up to four students will need to work together to design, implement, and train policies that enable the Go1 to walk to that dog bowl to eat. The teams may choose the methodologies that they use to complete each task. However, any points earned by completing different tasks using the same cross-morphology policy will earn extra points.

Tasks

• (1pt) Walk Forward – Get your Go1 to take steps in a straight line.

• (2pt) Navigate to the dog bowl – Control the Go1 via teleoperation to walk all the way to a target location.

Starting software resources

All teams will have access to starting code repositories for:

• Isaac lab quadruped simulation for data collection, RL, and testing.

• CrossFormer starter code to train transformer-based cross-morphology policies.

Testing policies on hardware

Due to limited shared hardware, teams should develop their policies primarily in simulation, and book time slots for real-world robot testing as needed.

Thanks to InDro Robotics for generously providing Unitree Go1 robots for the summer school!