legbot四足/四轮足机器人Isaac lab训练框架，包含PPO、PPO+MoE+CTS、WF-CTS-MOE（四轮足训练：真机已验证多种地形的鲁棒运动），可实现多种地形下的鲁棒运动控制。
☆58Nov 3, 2026Updated this week
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