  In this paper we propose a novel bipedal locomotion controller that uses
noisy exteroception to traverse a wide variety of terrains. Building on the
cutting-edge advancements in attention based belief encoding for quadrupedal
locomotion, our work extends these methods to the bipedal domain, resulting in
a robust and reliable internal belief of the terrain ahead despite noisy sensor
inputs. Additionally, we present a reward function that allows the controller
to successfully traverse irregular terrain. We compare our method with a
proprioceptive baseline and show that our method is able to traverse a wide
variety of terrains and greatly outperforms the state-of-the-art in terms of
robustness, speed and efficiency.
