yusongmin1/My_unitree_go2_gym

This is a repository for reinforcement learning implementation for Unitree robots, based on IsaacLab.

FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Control

Official implementation of Perceptive Behavior Foundation Model

Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "sar" represents "simulation and real"

HoloMotion: A Foundation Model for Whole-Body Humanoid Control

An open-source unsupervised RL framework for humanoid control with FB/TeCH training, robot-aware motion import, and real-world teleoperation.

[RSS 2026] Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion. Official implementation of RSS 2026.

A deployment framework for reinforcement learning-based motion control of legged robots, covering bipedal, quadrupedal, wheeled-bipedal, and wheeled-quadrupedal robots.