GCR-PPO is a modification of PPO for multi-objective robot RL that: - uses a multi-head critic to obtain per-reward advantages and gradients, - applies priority-aware gradient surgery (PCGrad-style projection) to protect task objectives from regularisers, - runs at massively parallel GPU scale within IsaacLab/RSL-RL.
☆37Feb 13, 2026Updated 5 months ago
Alternatives and similar repositories for GCR-PPO
Users that are interested in GCR-PPO are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- code for SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control☆18May 26, 2025Updated last year
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆32Updated this week
- ☆57Oct 10, 2025Updated 9 months ago
- Code for our ICRA 2024 paper on learning diverse skills☆26Apr 6, 2024Updated 2 years ago
- ☆18Mar 2, 2025Updated last year
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- This is an official GitHub Repository for paper "Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcem…☆219Nov 30, 2025Updated 7 months ago
- Algorithm implementation for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics☆55Jan 26, 2026Updated 5 months ago
- [Humanoids 2024 award finalist] Online DNN-Driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment☆20Feb 5, 2025Updated last year
- Successfully scratching the scripts of mujoco code in the lined with H2O method, actually testing pending☆26May 25, 2025Updated last year
- [arXiv 2025] ResMimic: From General Motion Tracking to Humanoid Whole-Body Loco-Manipulation via Residual Learning☆57Mar 24, 2026Updated 3 months ago
- ☆49Oct 16, 2025Updated 9 months ago
- Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)☆172Sep 1, 2025Updated 10 months ago
- Raycaster that supports multiple and dynamic mesh. Designed primarily to be used with Isaac Sim.☆20May 28, 2026Updated last month
- Official Code for "Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning"☆151May 16, 2025Updated last year
- Serverless GPU API endpoints on Runpod - Get Bonus Credits • AdSkip the infrastructure headaches. Auto-scaling, pay-as-you-go, no-ops approach lets you focus on innovating your application.
- Towards better athletic intelligence☆32Jan 31, 2026Updated 5 months ago
- Official Implementation of "PMP: Learning to Physically Interact with Environments using Part-wise Motion Priors" (SIGGRAPH 2023)☆41Sep 20, 2024Updated last year
- ☆19Aug 28, 2025Updated 10 months ago
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆196Apr 14, 2025Updated last year
- ☆143Jul 10, 2026Updated last week
- Official implementation of HEAD CoRL 2025☆27Aug 22, 2025Updated 10 months ago
- A legged robots learning library based on IsaacLab☆33Feb 20, 2025Updated last year
- ☆23Oct 28, 2025Updated 8 months ago
- Learning Model for Aggressive Jumping Maneuvers☆32Mar 5, 2025Updated last year
- AI Agents on DigitalOcean Gradient AI Platform • AdBuild production-ready AI agents using customizable tools or access multiple LLMs through a single endpoint. Create custom knowledge bases or connect external data.
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Aug 30, 2023Updated 2 years ago
- URDF Parser capable of handling kinematic loops☆21Mar 18, 2024Updated 2 years ago
- ☆18May 12, 2025Updated last year
- ☆39Mar 3, 2025Updated last year
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation☆117Jul 23, 2025Updated 11 months ago
- isaac gym env for training legged robots☆34Jun 22, 2025Updated last year
- ☆37May 14, 2025Updated last year
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆212Nov 26, 2025Updated 7 months ago
- Perceptive Learning for Legged Robots in IsaacLab. | LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing (CoRL'25)☆57May 15, 2026Updated 2 months ago
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- ☆16Mar 7, 2025Updated last year
- Imitation and relaxation reinforcement learning☆30Sep 26, 2022Updated 3 years ago
- ☆15Jul 6, 2026Updated 2 weeks ago
- ☆59Oct 11, 2024Updated last year
- A library containing a collection of distance and similarity measures for data analysis☆16Mar 25, 2026Updated 3 months ago
- Raycaster that supports multiple and dynamic mesh. Designed primarily to be used with Isaac Sim.☆20May 28, 2026Updated last month
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆54Jun 7, 2024Updated 2 years ago