mit-biomimetics / ORCAgymLinks
phase-based Observations, Rewards, Coupling Ablation
☆45Updated last year
Alternatives and similar repositories for ORCAgym
Users that are interested in ORCAgym are comparing it to the libraries listed below
Sorting:
- Official implementation of "DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies"☆33Updated 3 weeks ago
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 10 months ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆49Updated 2 years ago
- Open Source Code for RA-L 2025 Paper☆32Updated 2 weeks ago
- Torobo models and example scripts in MuJoCo☆71Updated 3 months ago
- Towards better athletic intelligence☆26Updated last month
- ☆20Updated last year
- terrain-robustness benchmark for legged locomotion☆65Updated 2 years ago
- ☆47Updated 11 months ago
- Code for our ICRA 2024 paper on learning diverse skills☆22Updated last year
- ☆36Updated last year
- ☆55Updated 10 months ago
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation☆79Updated 2 months ago
- Model Predictive Control in JAX☆107Updated last week
- Lightweight Isaac Gym Environment Builder☆40Updated 2 years ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆52Updated last year
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆107Updated 4 months ago
- ☆86Updated 2 years ago
- Quadruped Tasks extension based on Isaac Lab.☆42Updated 2 months ago
- ☆37Updated last year
- SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning☆29Updated 4 months ago
- Humanoid robot playing balance board in NVIDIA Isaac Gym using PPO.☆16Updated 3 years ago
- A collection of MPC walking scripts with various models☆42Updated 8 months ago
- Quaternion Model Predictive Control for Legged Robots☆62Updated 3 weeks ago
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆29Updated 2 years ago
- Train guide dog controller and force estimator in Isaac Gym and validate in PyBullet☆23Updated last year
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆20Updated 2 weeks ago
- Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding☆21Updated 4 months ago
- ☆50Updated 11 months ago
- Humanoid loco-manipulation controller☆33Updated 8 months ago