zzzJie-Robot/LeggedManip_Lab

legged robot environments for reinforcement learning in multiple simulators (IsaacGym, Genesis, IsaacSim)

A Comprehensive Workflow for Humanoid Loco-Manipulation Learning

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

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

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

Unified framework for robot learning with multi-physics/renderer support

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

Model Predictive Control in JAX