Ascending and descending stairs

[gyt290811]

Hello,

Following up on the code previously provided, I have modified the simulated environment to include stairs. However, I am encountering challenges in training the robot to ascend these stairs. While the robot demonstrates some proficiency in descending smaller stairs (stair height = 10cm), it consistently falls upon attempting to ascend, experiencing immediate instability.

Could you please advise on adjustments to parameters or the reward function that would facilitate successful training and ultimately enable the robot to navigate stairs in both ascent and descent directions?

Thank you for your guidance

[zlw21gxy]

Using a terrain curriculum can be an effective strategy to help the robot learn stair climbing progressively. Make sure the stair height increases with the difficulty level, start the training with small, manageable steps, and gradually introduce more challenging terrain as the robot improves. This gradual progression allows the robot to build stability and coordination before tackling higher or steeper stairs.