I designed, 3D-printed, and wired a small bipedal robot, then trained it to walk. A hand-coded gait got it moving at 0.35 cm/s; a hill-climber optimizing the gait in a PyBullet simulation pushed that to 0.91 cm/s, and the simulated walk transferred to the real hardware.

Read the full writeup: Building a Bipedal Robot and Teaching it to Walk.