Forrest

Overview

I work with RoboTUM on our flagship bipedal humanoid project, aiming to build the world’s fastest walking robot, called Forrest. My focus was on reinforcement learning policy development and large-scale training in IsaacLab. I have developed controllers and RL pipelines for our own designed humanoid using IsaacSim/IsaacLab with the RSL-RL stack, including the development of a CPG-based controller, terrain adaptation, and sim-to-real transfer methods.