Gepetto / constraints-as-terminationsLinks
Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)
☆150Updated 4 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:
- Code to train a compliant whole-body controller for the Unitree B1 + Z1☆150Updated last year
- Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conferen…☆102Updated last year
- ☆92Updated 2 years ago
- ☆116Updated last year
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆174Updated 9 months ago
- ☆144Updated 8 months ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆222Updated 3 weeks ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆159Updated last month
- Learning Agile Quadrupedal Locomotion on Challenging Terrains☆78Updated last year
- 🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)☆257Updated 3 weeks ago
- Open Source Code for the IROS 2024 Paper☆210Updated 4 months ago
- Code release accompanying DribbleBot: Dynamic Legged Manipulation in the Wild☆129Updated 2 years ago
- ☆66Updated last year
- ☆53Updated 3 years ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆109Updated 4 months ago
- Natural Locomotion, Jumping and Recovery of Quadruped Robot A1 with AMP☆188Updated 2 years ago
- Train quadruped locomotion using reinforcement learning in Mujoco☆116Updated last year
- This repository provide a tool to convert robot urdf file to mjcf.☆70Updated 5 months ago
- ☆58Updated last year
- Isaaclab based Parkour locomotion☆237Updated last month
- ☆170Updated 2 years ago
- ☆114Updated last year
- PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encode…☆329Updated last month
- Bipedal robot control using ocs2☆114Updated 6 months ago
- ☆62Updated 9 months ago
- ☆137Updated last year
- ☆88Updated 2 years ago
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆81Updated last year
- ☆130Updated 2 years ago
- AMP implementation with minimal changes on legged_gym and rsl_rl☆97Updated last year