mit-biomimetics / ORCAgymLinks
phase-based Observations, Rewards, Coupling Ablation
☆49Updated 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).☆50Updated 2 years ago
- Globally Safe Model-free Exploration of Dynamical Systems☆32Updated last year
- Code for our ICRA 2024 paper on learning diverse skills☆25Updated last year
- ☆37Updated 2 years ago
- Open Source Code for RA-L 2025 Paper☆61Updated 4 months ago
- Torobo models and example scripts in MuJoCo☆73Updated 7 months ago
- Official implementation of "DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies"☆38Updated 3 months ago
- terrain-robustness benchmark for legged locomotion☆69Updated 3 years ago
- ☆21Updated last year
- Train guide dog controller and force estimator in Isaac Gym and validate in PyBullet☆23Updated 2 years ago
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆30Updated 3 years ago
- SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning☆37Updated 8 months ago
- A collection of MPC walking scripts with various models☆43Updated 11 months ago
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆24Updated last week
- Towards better athletic intelligence☆31Updated 4 months ago
- Mujoco Gym environment for the control of quadruped robots☆66Updated 3 weeks ago
- Humanoid robot playing balance board in NVIDIA Isaac Gym using PPO.☆16Updated 3 years ago
- Project code.☆27Updated last year
- ☆94Updated 2 years ago
- Quaternion Model Predictive Control for Legged Robots☆73Updated 4 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆57Updated last year
- Deploying a quadruped robot policy(DreamWaQ, walk-these-ways, HIMLoco) trained in Isaacgym to ROS2 Gazebo for Sim-to-Sim☆44Updated 2 months ago
- Imitation and relaxation reinforcement learning☆29Updated 3 years ago
- Quadruped Tasks extension based on Isaac Lab.☆46Updated 6 months ago
- ☆55Updated last year
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆21Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆43Updated 4 years ago
- ☆45Updated last year
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆164Updated 2 months ago
- ☆57Updated last year