# Tuning Legged Locomotion Controllers via Safe Bayesian Optimization

The `Safe_Controller_Tuning_for_Quadrupedal_Locomotion_with_Appendix.pdf` contains the paper including the appendix explaining our methods in more detail.

The `code` folder contains all the code conserning the bayesian optimization algorithms including our Contextual GoSafeOpt algorithm. More details on how to run the toy pendulum problem with GoSafeOpt are found in the README.md in the code folder.

The `demo_video.mp4` is a video demonstration of our simulation and hardware experiments.
