ViNL: Visual Navigation and Locomotion over Obstacles (ICRA 2023)

Laying the Groundwork for Quadruped Locomotion Solutions: A Hyperparameter Study for Legged Gym (Based on ViNL work)

RAPTOR: RAPid and Robust Trajectory Optimization for Robots

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

Go2 RL Deployment (ROS2 Humble)

Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1

Code for the paper "Kinematic Motion Retargeting via Neural Latent Optimization for Learning Sign Language", RAL with ICRA 2022

Imitation learning algorithms

ROS2 version of OCS2, refactor with modern-cmake

Official code release for the paper "SkillMimic: Learning Reusable Basketball Skills from Demonstrations"

Bipedal robot control using ocs2

A Gentle Introduction to Gazebo Classic Modeling (EN/中)

Personal legged_gym A1 implementation for paper 'Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control'. Homework repo for SJTU ACM class RL courses

two wheel legged bot for Isaac gym reinforcement learning

an implement of unitree_h1 robot with humanoid-gym

This repository is an open-sourced code for the IROS 2024 paper.

Supercharged Isaac Gym environments with multi-agent and multi-algorithm support

Gazebo database of SDF models. This is a predecessor to https://app.gazebosim.org

Repository for learning a policy to get a humanoid robot to stand up