[Interesting finding] The humanoid can fly in Pybullet

Official Python bindings with a focus on reinforcement learning and robotics.
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tingxfan
Posts: 1
Joined: Mon Jul 05, 2021 6:20 am

[Interesting finding] The humanoid can fly in Pybullet

Post by tingxfan »

Hi developers,

I trained a curiosity-driven PPO agent in Pybullet humanoid environment. Surprisingly, the humanoid finally learns "Flying" :shock: . It seems to some problems in Pybullet humanoid environment lead to such unrealistic behavior. The demo can be seen on my youtube page: https://www.youtube.com/watch?v=KrU34hSWH_E.
LocknutBushing
Posts: 11
Joined: Sat Jan 18, 2020 4:37 am

Re: [Interesting finding] The humanoid can fly in Pybullet

Post by LocknutBushing »

This is a major problem that has been obstructing my work as well. My robot goes flying into the air, violating the laws of physics, if it starts to fall over. I would really like to know if there's a way to mitigate this bug, so that I can code the robot properly.
francevezzi
Posts: 2
Joined: Wed Feb 16, 2022 2:10 pm

Re: [Interesting finding] The humanoid can fly in Pybullet

Post by francevezzi »

I experience the same problem. I'm trying to make a quadruped jumping via reinforcement learning and he has learned flying. It's like it has learnt a way to use the actuators to generate forces to make it fly winning the gravity force.

Has someone found a workaround to this matter ?
Is there a way to change solver ?
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Erwin Coumans
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Re: [Interesting finding] The humanoid can fly in Pybullet

Post by Erwin Coumans »

We trained humanoid, it can have issues if you are not careful.

This can have various causes: hitting joint limits or using too large forces/torques, too large time step or other.

Try reducing the torques. Use a smaller time step.
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