leggedrobotics/terrain-grounded-imagination

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

Training a humanoid robot for locomotion using Reinforcement Learning

[CoRL 2023] Robot Parkour Learning

RL simulation and hardware control for Duke Humanoid V1

Reinforcement learning codebase built on MJLab for Unitree G1 and Go2 Parkour.

Official implementation of Perceptive Behavior Foundation Model

Vision-Based Humanoid Locomotion

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

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