marmotlab/APEX

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

Bridging the Gap: Enabling Soft Actor-Critic for High Performance Legged Locomotion

AME-2: Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding (arXiv:2601.08485) — standalone PyTorch implementation for ANYmal-D

SRBTrack: Terrain-Adaptive Tracking of a Single-Rigid-Body Character Using Momentum-Mapped Space-Time Optimization, Adaptive Tracking of a Single-Rigid-Body Character in Various Environments, and Fast and Flexible Multilegged Locomotion Using Learned Centroidal Dynamics.

Model Predictive Control in JAX

[CoRL 2023] Robot Parkour Learning

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

[CoRL 2026] RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains