UMich-CURLY / DHALLinks
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
☆19Updated 4 months ago
Alternatives and similar repositories for DHAL
Users that are interested in DHAL are comparing it to the libraries listed below
Sorting:
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation☆72Updated last month
- Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing☆39Updated 3 months ago
- terrain-robustness benchmark for legged locomotion☆65Updated 2 years ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆98Updated 3 months ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆56Updated 2 years ago
- Isaaclab based Parkour locomotion☆88Updated this week
- Quaternion Model Predictive Control for Legged Robots☆61Updated 11 months ago
- ☆44Updated 11 months ago
- ☆18Updated last year
- [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains☆67Updated last year
- SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning☆25Updated 3 months ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆24Updated last year
- ☆28Updated 8 months ago
- Learning Model for Aggressive Jumping Maneuvers☆19Updated 6 months ago
- Quadruped Tasks extension based on Isaac Lab.☆42Updated last month
- Project code.☆25Updated 7 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆63Updated last year
- ☆46Updated 10 months ago
- Learning Perceptive Bipedal Locomotion over Irregular Terrain☆18Updated 2 years ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆49Updated 2 years ago
- GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation☆19Updated last week
- ☆17Updated 6 months ago
- Official implementation of "DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies"☆31Updated this week
- ☆20Updated last year
- A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.☆34Updated last month
- Official Github repository for "CHILD: a Whole-Body Humanoid Teleoperation System". (Humanoids 2025)☆29Updated 3 weeks ago
- QuadWBG: Generalizable Quadrupedal Whole-Body Grasping☆25Updated 10 months ago
- A distributed whole-body model predictive control for quadruped robots☆63Updated 4 months ago
- RL code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆25Updated last year
- Code for our ICRA 2024 paper on learning diverse skills☆22Updated last year