Master Thesis - Reinforcement Learning wheeled, bipedal robots

Master Thesis
- Reinforcement Learning for Wheeled, Bipedal Robots

The Fraunhofer-Gesellschaft is one of the world's leading organizations for applied research. 75 institutes develop pioneering technologies for our economy and society – specifically: 32,000 people from technology, science, administration, and IT. In the Professional Service Robots
- Outdoor research group, we develop autonomous, mobile robots for a variety of outdoor applications, such as agriculture, forestry, and logistics. The focus is on the development of an autonomous outdoor navigation solution as well as the hardware of the robots. Wheeled, bipedal robots combine the advantages of dynamic walking with efficient wheeled locomotion. Controlling such systems in real-world environments is challenging due to the high-dimensional dynamics, non-linear contact interactions, and varying surface conditions.

Reinforcement learning (RL) offers a promising approach to develop adaptive and robust control policies, but training on physical hardware is often impractical and unsafe. Realistic simulation environments are therefore essential. NVIDIA Isaac Sim with Isaac Lab enables high-fidelity physics simulation, sensor emulation, and RL-compatible environments for training and evaluating complex locomotion and navigation behaviors.

In this thesis, you will design and implement a simulation environment for a wheeled, bipedal robot in NVIDIA Isaac Sim, ensuring realistic physics for hybrid locomotion. You will develop and train RL algorithms for hybrid locomotion tasks, including transitioning between locomotion modes and balancing on uneven terrain. To assess the quality and limitations of the training, you will compare the simulated behavior with the real-world performance of our internally developed bipedal robot.

What you bring:

• Valid enrollment at a German university/Hochschule
• Background in Computer Science, Software Engineering, Mechanical Engineering, Mechatronics, or similar
• Experience with Reinforcement Learning
• Experience with Physics Engines is a plus
• Experience with NVIDIA Isaac Sim and Isaac Lab is a plus
• Experience with ROS is a plus
• Analytical mindset
• Enthusiasm for mobile robotics
• Fluent in English or German

What you can expect:

• Cutting-edge technology in the field of outdoor mobile robotics
• Hands on with our robots in Stuttgart
• Take on responsibility and freedom to implement your own ideas
• Work with the best students in their discipline
• Familiar atmosphere including Cake Thursday

We value and promote the diversity of our employees and therefore welcome all applications – regardless of age, gender, nationality, ethnic and social origin, religion, beliefs, disability, sexual orientation, and identity. Disabled persons are given preference in case of equal suitability.

With its focus on future-relevant key technologies and on the commercialization of the results in the economy and industry, the Fraunhofer-Gesellschaft plays a central role in the innovation process. As a guide and catalyst for innovative developments and scientific excellence, it contributes to shaping our society and our future.