base on [CoRL 2023] Robot Parkour Learning # Robot Parkour Learning # Project website: [https://robot-parkour.github.io/](https://robot-parkour.github.io/) <br> Authors: [Ziwen Zhuang*](https://ziwenzhuang.github.io/), [Zipeng Fu*](https://zipengfu.github.io/), [Jianren Wang](https://www.jianrenw.com), [Christopher Atkeson](http://www.cs.cmu.edu/~cga/), [Sören Schwertfeger](https://robotics.shanghaitech.edu.cn/people/soeren), [Chelsea Finn](https://ai.stanford.edu/~cbfinn/), [Hang Zhao](https://hangzhaomit.github.io/)<br> Conference on Robot Learning (CoRL) 2023, **Oral**, **Best Systems Paper Award Finalist (top 3)** <br> <p align="center"> <img src="images/teaser.jpeg" width="80%"/> </p> ## Repository Structure ## * `legged_gym`: contains the isaacgym environment and config files. - `legged_gym/legged_gym/envs/{robot}/`: contains all the training config files for a specific robot - `legged_gym/legged_gym/envs/base/`: contains all the environment implementation. - `legged_gym/legged_gym/utils/terrain/`: contains the terrain generation code. * `rsl_rl`: contains the network module and algorithm implementation. You can copy this folder directly to your robot. - `rsl_rl/rsl_rl/algorithms/`: contains the algorithm implementation. - `rsl_rl/rsl_rl/modules/`: contains the network module implementation. ## Training in Simulation ## To install and run the code for training A1/Go2 in simulation, please clone this repository and follow the instructions in [legged_gym/README.md](legged_gym/README.md). ## Hardware Deployment ## To deploy the trained model on your unitree Go1 robot, please follow the instructions in [Deploy-Go1.md](onboard_codes/Deploy-Go1.md) for deploying on the Unittree Go1 robot. To deploy the trained model on your unitree Go2 robot, please follow the instructions in [Deploy-Go2.md](onboard_codes/Deploy-Go2.md) for deploying on the Unittree Go2 robot. ## Trouble Shooting ## If you cannot run the distillation part or all graphics computing goes to GPU 0 dispite you have multiple GPUs and have set the CUDA_VISIBLE_DEVICES, please use docker to isolate each GPU. ## To Do ## - [x] Go1 training configuration (does not guarantee the same performance as the paper) - [ ] A1 deployment code - [x] Go1 deployment code - [x] Go2 training configuration example (does not guarantee the same performance as the paper) - [x] Go2 deployment code example ## Citation ## If you find this project helpful to your research, please consider cite us! This is really important to us. ``` @inproceedings{ zhuang2023robot, title={Robot Parkour Learning}, author={Ziwen Zhuang and Zipeng Fu and Jianren Wang and Christopher G Atkeson and S{\"o}ren Schwertfeger and Chelsea Finn and Hang Zhao}, booktitle={Conference on Robot Learning {CoRL}}, year={2023} } ``` ", Assign "at most 3 tags" to the expected json: {"id":"1361","tags":[]} "only from the tags list I provide: [{"id":77,"name":"3d"},{"id":89,"name":"agent"},{"id":17,"name":"ai"},{"id":54,"name":"algorithm"},{"id":24,"name":"api"},{"id":44,"name":"authentication"},{"id":3,"name":"aws"},{"id":27,"name":"backend"},{"id":60,"name":"benchmark"},{"id":72,"name":"best-practices"},{"id":39,"name":"bitcoin"},{"id":37,"name":"blockchain"},{"id":1,"name":"blog"},{"id":45,"name":"bundler"},{"id":58,"name":"cache"},{"id":21,"name":"chat"},{"id":49,"name":"cicd"},{"id":4,"name":"cli"},{"id":64,"name":"cloud-native"},{"id":48,"name":"cms"},{"id":61,"name":"compiler"},{"id":68,"name":"containerization"},{"id":92,"name":"crm"},{"id":34,"name":"data"},{"id":47,"name":"database"},{"id":8,"name":"declarative-gui "},{"id":9,"name":"deploy-tool"},{"id":53,"name":"desktop-app"},{"id":6,"name":"dev-exp-lib"},{"id":59,"name":"dev-tool"},{"id":13,"name":"ecommerce"},{"id":26,"name":"editor"},{"id":66,"name":"emulator"},{"id":62,"name":"filesystem"},{"id":80,"name":"finance"},{"id":15,"name":"firmware"},{"id":73,"name":"for-fun"},{"id":2,"name":"framework"},{"id":11,"name":"frontend"},{"id":22,"name":"game"},{"id":81,"name":"game-engine "},{"id":23,"name":"graphql"},{"id":84,"name":"gui"},{"id":91,"name":"http"},{"id":5,"name":"http-client"},{"id":51,"name":"iac"},{"id":30,"name":"ide"},{"id":78,"name":"iot"},{"id":40,"name":"json"},{"id":83,"name":"julian"},{"id":38,"name":"k8s"},{"id":31,"name":"language"},{"id":10,"name":"learning-resource"},{"id":33,"name":"lib"},{"id":41,"name":"linter"},{"id":28,"name":"lms"},{"id":16,"name":"logging"},{"id":76,"name":"low-code"},{"id":90,"name":"message-queue"},{"id":42,"name":"mobile-app"},{"id":18,"name":"monitoring"},{"id":36,"name":"networking"},{"id":7,"name":"node-version"},{"id":55,"name":"nosql"},{"id":57,"name":"observability"},{"id":46,"name":"orm"},{"id":52,"name":"os"},{"id":14,"name":"parser"},{"id":74,"name":"react"},{"id":82,"name":"real-time"},{"id":56,"name":"robot"},{"id":65,"name":"runtime"},{"id":32,"name":"sdk"},{"id":71,"name":"search"},{"id":63,"name":"secrets"},{"id":25,"name":"security"},{"id":85,"name":"server"},{"id":86,"name":"serverless"},{"id":70,"name":"storage"},{"id":75,"name":"system-design"},{"id":79,"name":"terminal"},{"id":29,"name":"testing"},{"id":12,"name":"ui"},{"id":50,"name":"ux"},{"id":88,"name":"video"},{"id":20,"name":"web-app"},{"id":35,"name":"web-server"},{"id":43,"name":"webassembly"},{"id":69,"name":"workflow"},{"id":87,"name":"yaml"}]" returns me the "expected json"