leggedrobotics / rl-blindloco
Project page for Science Robotics paper "Learning Quadrupedal Locomotion over Challenging Terrain"
☆11Updated 4 years ago
Alternatives and similar repositories for rl-blindloco:
Users that are interested in rl-blindloco are comparing it to the libraries listed below
- Globally Safe Model-free Exploration of Dynamical Systems☆30Updated 3 months ago
- ☆21Updated last year
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆16Updated 2 years ago
- An implementation of the paper "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control" into Quad-SDK☆14Updated 7 months ago
- Toy implementations of algorithms for path planning, system modelling, optimal control, estimation, and more.☆21Updated 5 years ago
- ☆18Updated last year
- Implementation of drake contact surfaces in MuJoCo.☆19Updated last month
- [IROS 2024] DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies☆17Updated 3 weeks ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆20Updated 5 months ago
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆25Updated 2 years ago
- Programmatically compile xacro files to URDF (no ROS required).☆32Updated last month
- Code for our ICRA 2024 paper on learning diverse skills☆20Updated 10 months ago
- Lightweight Isaac Gym Environment Builder☆36Updated 2 years ago
- ☆27Updated 2 years ago
- Tutorials for the Robotics MVA 2023 class☆12Updated 6 months ago
- Python Implementation of Planning and Control☆51Updated 11 months ago
- Torobo models and example scripts in MuJoCo☆55Updated 2 months ago
- phase-based Observations, Rewards, Coupling Ablation☆39Updated 11 months ago
- Analytical formula of the wrench friction cone for surface contacts☆25Updated 4 years ago
- Mujoco Gym environment for the control of quadruped robots☆24Updated this week
- Community-built test set to benchmark QP solvers☆13Updated 5 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆49Updated last year
- A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height var…☆12Updated 5 years ago
- ☆14Updated 2 years ago
- ☆25Updated last week
- Generic whole body control library with QP: inverse dynamics and kinematics☆19Updated last year
- ☆19Updated last year
- A distributed whole-body model predictive control for quadruped robots☆27Updated 2 months ago
- implementation of rmpflow for arms☆13Updated 3 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆64Updated 11 months ago