Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)
☆174Sep 1, 2025Updated last year
Alternatives and similar repositories for constraints-as-terminations
Users that are interested in constraints-as-terminations are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- ☆173May 5, 2025Updated last year
- ☆130Sep 19, 2024Updated 2 years ago
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆202Apr 14, 2025Updated last year
- LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators (IROS'24)☆104Feb 6, 2025Updated last year
- PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encode…☆866Updated this week
- Managed Database hosting by DigitalOcean • AdPostgreSQL, MySQL, MongoDB, Kafka, Valkey, and OpenSearch available. Automatically scale up storage and focus on building your apps.
- Reproduction code of paper "World Model-based Perception for Visual Legged Locomotion"☆419Dec 18, 2024Updated last year
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆80May 31, 2023Updated 3 years ago
- Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control☆988May 14, 2024Updated 2 years ago
- Official implementation of "Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots"☆138Aug 4, 2026Updated 3 months ago
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆92Nov 25, 2024Updated last year
- 🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)☆354Oct 16, 2026Updated 3 weeks ago
- Awesome Quadrupedal Robots☆1,186Updated this week
- Repository for "Latent Conditioned Loco-Manipulation Using Motion Priors"☆27May 29, 2026Updated 5 months ago
- This is an official GitHub Repository for paper "Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcem…☆232Nov 30, 2025Updated 11 months ago
- Managed Kubernetes at scale on DigitalOcean • AdDigitalOcean Kubernetes includes the control plane, bandwidth allowance, container registry, automatic updates, and more for free.
- ☆283May 31, 2024Updated 2 years ago
- ☆189Dec 23, 2023Updated 2 years ago
- Code for Rapid Locomotion via Reinforcement Learning☆302Jul 20, 2023Updated 3 years ago
- multi-task learning for active fault-tolerant control in quadruped robots☆14Aug 31, 2024Updated 2 years ago
- [CoRL 2023] Robot Parkour Learning☆1,142Oct 26, 2025Updated last year
- Isaaclab based Parkour locomotion☆340Dec 4, 2025Updated 11 months ago
- ☆77Oct 10, 2025Updated last year
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆232Nov 26, 2025Updated 11 months ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆537Updated this week
- 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.
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,190Nov 28, 2023Updated 2 years ago
- Code release accompanying DribbleBot: Dynamic Legged Manipulation in the Wild☆143Oct 25, 2023Updated 3 years ago
- ☆100Sep 13, 2023Updated 3 years ago
- [CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion☆411Jan 17, 2024Updated 2 years ago
- [IROS 2025] Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies☆244Jun 16, 2025Updated last year
- Project code.☆28Feb 5, 2025Updated last year
- Open Source Code for the IROS 2024 Paper☆227Sep 12, 2025Updated last year
- Code for training locomotion policies with RL☆369Sep 30, 2023Updated 3 years ago
- GCR-PPO is a modification of PPO for multi-objective robot RL that: - uses a multi-head critic to obtain per-reward advantages and gradie…☆43Feb 13, 2026Updated 8 months ago
- Managed hosting for WordPress and PHP on Cloudways • AdManaged hosting for WordPress, Magento, Laravel, or PHP apps, on multiple cloud providers. Deploy in minutes on Cloudways by DigitalOcean.
- Learning Agile Quadrupedal Locomotion on Challenging Terrains☆90Apr 11, 2024Updated 2 years ago
- Webpage for MorAL: Learning Morphologically Adaptive Locomotion Controller for Quadrupedal Robots on Challenging Terrains☆20Mar 3, 2024Updated 2 years ago
- [CoRL 2024] Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models☆53Oct 19, 2024Updated 2 years ago
- [ICRA 2025] Official Implementation of "Robust Robot Walker: Learning Agile Locomotion over Tiny Traps"☆98Apr 28, 2025Updated last year
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"☆850Jul 17, 2024Updated 2 years ago
- Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing☆130Oct 2, 2025Updated last year
- MultiModalWBC is a fully open-source, IsaacLab-based framework for multi-modal whole-body control, designed for motion imitation, motion …☆192Jun 16, 2026Updated 4 months ago