QuadroBot // Robot "Spider"

I built a 4-legged spider robot that learns to walk using reinforcement learning. The physics were simulated in Godot 4.5, where a PPO neural network (23 inputs, 256×256 hidden layers, 12 outputs) was trained via Stable Baselines3 on a 50-core Ubuntu server running up to 50 parallel headless instances. The robot first learned to stand stably (Phase 0), then automatically transitioned to walking once the mean reward exceeded 6.5 (Phase 1). The simulated joints behaved like real servos, receiving target angles and moving at a realistic speed matching the actual hardware. The reward function encouraged upright posture, correct body height, foot contact, joint symmetry, smooth movements, and penalized drifting and jittery behavior. The trained model was exported as ONNX and deployed to an Arduino UNO Q with a PCA9685 servo controller driving 12 servos (3 per leg: hip horizontal, hip vertical, knee), using an LSM6DSOXTR IMU for real-time balance feedback. At the moment, I cannot release the