Gepetto / constraints-as-terminationsLinks
Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)
☆146Updated 3 months ago
Alternatives and similar repositories for constraints-as-terminations
Users that are interested in constraints-as-terminations are comparing it to the libraries listed below
Sorting:
- ☆88Updated 2 years ago
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆172Updated 8 months ago
- Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conferen…☆99Updated last year
- Code to train a compliant whole-body controller for the Unitree B1 + Z1☆145Updated last year
- 🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)☆244Updated last week
- ☆139Updated 7 months ago
- ☆112Updated last year
- Learning Agile Quadrupedal Locomotion on Challenging Terrains☆76Updated last year
- Open Source Code for the IROS 2024 Paper☆207Updated 3 months ago
- Code release accompanying DribbleBot: Dynamic Legged Manipulation in the Wild☆130Updated 2 years ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆213Updated this week
- Train quadruped locomotion using reinforcement learning in Mujoco☆112Updated last year
- PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encode…☆295Updated 2 weeks ago
- Natural Locomotion, Jumping and Recovery of Quadruped Robot A1 with AMP☆180Updated 2 years ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆148Updated last month
- Isaaclab based Parkour locomotion☆221Updated 3 weeks ago
- ☆88Updated 2 years ago
- ☆62Updated last year
- ☆203Updated 5 months ago
- ☆136Updated last year
- ☆206Updated 7 months ago
- ☆57Updated last year
- ☆167Updated 2 years ago
- ☆62Updated 8 months ago
- AMP implementation with minimal changes on legged_gym and rsl_rl☆89Updated last year
- ☆112Updated last year
- Locomotion tasks for bipedal robots in IsaacLab☆73Updated 7 months ago
- ☆53Updated 3 years ago
- This repository provide a tool to convert robot urdf file to mjcf.☆66Updated 4 months ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆105Updated 3 months ago