CycleRL trains a PPO policy in Isaac Sim with domain randomization to achieve 99.9% balance success and direct hardware transfer for autonomous bicycle control.
Controlling an autonomous vehicle with deep reinforcement learning,
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CycleRL: Sim-to-Real Deep Reinforcement Learning for Robust Autonomous Bicycle Control
CycleRL trains a PPO policy in Isaac Sim with domain randomization to achieve 99.9% balance success and direct hardware transfer for autonomous bicycle control.