Gepetto / constraints-as-terminations
Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)
☆85Updated last month
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:
- ☆73Updated last year
- Learning Agile Quadrupedal Locomotion on Challenging Terrains☆60Updated last year
- Train quadruped locomotion using reinforcement learning in Mujoco☆78Updated 10 months ago
- Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conferen…☆63Updated last year
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆87Updated last month
- ☆84Updated 2 years ago
- ☆85Updated 7 months ago
- Quadruped Tasks extension based on Isaac Lab.☆35Updated last week
- DTC: Deep Tracking Control☆54Updated 5 months ago
- Code to train a compliant whole-body controller for the Unitree B1 + Z1☆77Updated 7 months ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆41Updated last year
- ☆35Updated last year
- ☆96Updated last week
- ☆43Updated last year
- 🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)☆89Updated this week
- ☆47Updated 2 years ago
- Towards better athletic intelligence☆23Updated 11 months ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆82Updated last month
- ☆71Updated last year
- A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.☆31Updated last month
- Some good robot reinforcement learning projects and papers☆43Updated last year
- ☆120Updated last year
- Official codebase for PRELUDE (Perceptive Locomotion Under Dynamic Environments)☆70Updated 3 months ago
- Isaac Lab Humanoid AMP for Unitree G1☆56Updated 2 weeks ago
- [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains☆57Updated 10 months ago
- Mujoco Gym environment for the control of quadruped robots☆35Updated last week
- ☆85Updated 3 weeks ago
- Official Code for "Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning"☆42Updated this week
- ☆37Updated 5 months ago
- terrain-robustness benchmark for legged locomotion☆54Updated 2 years ago