mit-biomimetics / ORCAgymLinks
phase-based Observations, Rewards, Coupling Ablation
☆44Updated last year
Alternatives and similar repositories for ORCAgym
Users that are interested in ORCAgym are comparing it to the libraries listed below
Sorting:
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆45Updated 2 years ago
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 8 months ago
- Official implementation of "DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies"☆27Updated last month
- terrain-robustness benchmark for legged locomotion☆60Updated 2 years ago
- ☆82Updated last year
- ☆19Updated last year
- Torobo models and example scripts in MuJoCo☆68Updated last month
- ☆44Updated 8 months ago
- Towards better athletic intelligence☆26Updated last month
- ☆34Updated 11 months ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆85Updated 2 months ago
- Quaternion Model Predictive Control for Legged Robots☆60Updated 10 months ago
- ☆35Updated last year
- Model Predictive Control in JAX☆76Updated 3 weeks ago
- A distributed whole-body model predictive control for quadruped robots☆55Updated 3 months ago
- Mujoco Gym environment for the control of quadruped robots☆46Updated this week
- ☆34Updated 9 months ago
- Code for our ICRA 2024 paper on learning diverse skills☆22Updated last year
- Learning Agile Quadrupedal Locomotion on Challenging Terrains☆68Updated last year
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆101Updated 2 months ago
- Humanoid robot playing balance board in NVIDIA Isaac Gym using PPO.☆15Updated 2 years ago
- ☆87Updated 2 years ago
- Quadruped Tasks extension based on Isaac Lab.☆41Updated 2 weeks ago
- Train guide dog controller and force estimator in Isaac Gym and validate in PyBullet☆21Updated last year
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆73Updated 4 months ago
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆28Updated 2 years ago
- Project code.☆25Updated 6 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆40Updated 3 years ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆51Updated last year
- Lightweight Isaac Gym Environment Builder☆37Updated 2 years ago