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.