RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.
☆22Jul 11, 2022Updated 4 years ago
Alternatives and similar repositories for hybrid_gait
Users that are interested in hybrid_gait are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- RL applied to robotics.☆29Jan 21, 2022Updated 4 years ago
- linear MPC based on OSQP☆10Aug 22, 2022Updated 3 years ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆80Dec 9, 2024Updated last year
- ROS 2 example packages☆11Nov 9, 2020Updated 5 years ago
- Reinforcement Learning framework for Bipedal robots using the OpenAI Gym environment and PyBullet☆12Jan 5, 2020Updated 6 years ago
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆70Dec 10, 2022Updated 3 years ago
- A distributed whole-body model predictive control for quadruped robots☆88Apr 22, 2025Updated last year
- ☆142Oct 24, 2023Updated 2 years ago
- 多足机器人MPC控制器+仿真环境☆13Feb 15, 2023Updated 3 years ago
- Supplementary materials for "Learning Locomotion over Challenging Terrain"☆252Oct 27, 2020Updated 5 years ago
- mpc and wbc for mini cheetah in pybullet☆58Nov 20, 2020Updated 5 years ago
- Train quadruped locomotion using reinforcement learning in Mujoco☆131Jun 20, 2024Updated 2 years ago
- This repo is related to Deep Policy search using MPC.☆20Jun 1, 2022Updated 4 years ago
- train aliengo robot with rough env on isaaclab and deploy it.☆32Sep 30, 2024Updated last year
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆19Jun 20, 2023Updated 3 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Aug 30, 2023Updated 2 years ago
- The project of the body estimation for the wheel-legged robot☆14Nov 18, 2023Updated 2 years ago
- WoLF: Whole-body Locomotion Framework for quadruped robots☆133May 12, 2026Updated 2 months ago
- AI3603: Robot Control with Reinforcement Learning based on Isaac Gym Environments for Unitree Go1 Robots☆18May 23, 2024Updated 2 years ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆55Jun 1, 2023Updated 3 years ago
- This repository contains papers in the field of legged robots.☆88Jul 20, 2026Updated last week
- RL-Augmented Model Predictive Control for Non-Gaited Legged and Hybrid Locomotion☆33Jul 18, 2026Updated last week
- Whole-Body Controller for quadrupedal robots with soft contacts constraints.☆18Jul 15, 2025Updated last year
- Serverless GPU API endpoints on Runpod - Get Bonus Credits • AdSkip the infrastructure headaches. Auto-scaling, pay-as-you-go, no-ops approach lets you focus on innovating your application.
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆45Apr 7, 2025Updated last year
- Legged State Estimation Library☆16Sep 6, 2013Updated 12 years ago
- ☆64Apr 1, 2025Updated last year
- Himloco with modifications of AMP, reward, recovery and etc.☆53Sep 5, 2025Updated 10 months ago
- Chance-Constrained MPC simulation for quadrupedal robots navigating uneven terrains and handling random payloads.☆28Aug 14, 2025Updated 11 months ago
- Humanoid loco-manipulation controller☆37Feb 4, 2025Updated last year
- MIT Cheetah仿真平台源码笔记以及一部分第三方组件☆146Feb 11, 2022Updated 4 years ago
- Learning multiple gaits of quadruped robot using hierarchical reinforcement learning☆56Apr 15, 2022Updated 4 years ago
- An Architecture for the Versatile Control of Legged Robots☆448Oct 31, 2019Updated 6 years ago
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- A collection of algorithms and experiment tools for safe sim to real transfer in robotics.☆28May 19, 2026Updated 2 months ago
- Official implementation of "DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies"☆40Oct 7, 2025Updated 9 months ago
- Dummy package and node for ROS2 GDB debugging☆10Sep 3, 2020Updated 5 years ago
- Mujoco Gym environment for the control of quadruped robots☆78Jul 15, 2026Updated 2 weeks ago
- A collection of reinforcement learning algorithms.☆10Apr 4, 2021Updated 5 years ago
- ☆123Jan 2, 2023Updated 3 years ago
- YARP devices that implement estimators for humanoid robots.☆28Mar 1, 2025Updated last year