Improbable-AI / learning-compliance
Code to train a compliant whole-body controller for the Unitree B1 + Z1
☆33Updated last month
Related projects ⓘ
Alternatives and complementary repositories for learning-compliance
- ☆51Updated last year
- Towards better athletic intelligence☆19Updated 5 months ago
- [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains☆34Updated 4 months ago
- Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conferen…☆46Updated 7 months ago
- ☆57Updated last month
- ☆67Updated last month
- Learning Agile Quadrupedal Locomotion on Challenging Terrains☆42Updated 7 months ago
- ☆62Updated last month
- phase-based Observations, Rewards, Coupling Ablation☆36Updated 8 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆75Updated 4 months ago
- ☆16Updated 4 months ago
- This is an official GitHub Repository for paper "Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcem…☆59Updated last month
- ☆75Updated last year
- terrain-robustness benchmark for legged locomotion☆42Updated last year
- ☆33Updated 2 years ago
- ☆67Updated 2 weeks ago
- Some good robot reinforcement learning projects and papers☆30Updated 7 months ago
- Train quadruped locomotion using reinforcement learning in Mujoco☆43Updated 4 months ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆22Updated last year
- ☆70Updated 10 months ago
- ☆32Updated 7 months ago
- An open source implementation of Unitree Go1 controllers☆19Updated last year
- The official codebase of paper "Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies".☆90Updated 2 weeks ago
- Code for paper, "A Comparison of Imitation Learning Algorithms for Bimanual Manipulation" (Drolet et al., 2024)☆59Updated 3 months ago
- ☆78Updated last year
- ☆20Updated 8 months ago
- A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.☆23Updated 11 months ago
- Humanoid robot playing balance board in NVIDIA Isaac Gym using PPO.☆13Updated 2 years ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆34Updated 2 months ago