iit-DLSLab/fault-locomotion-isaaclab

An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

An IsaacLab DirectEnv for the quadruped get-up task, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

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

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

Mujoco Gym environment for the control of quadruped robots

Albert: a small quadruped that learns to walk with PPO in MuJoCo and runs the policy on an ESP32

Open-source quadruped robot locomotion framework based on MPC+WBC with vision for suitable foothold selection. Simulated in MuJoCo and ROS2-compatible

Isaac Lab training workspace for Roboparty RPO locomotion policies, including RSL-RL, Sim2Sim, and motion retargeting tools.

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.