mit-biomimetics / ORCAgymLinks
phase-based Observations, Rewards, Coupling Ablation
☆41Updated last year
Alternatives and similar repositories for ORCAgym
Users that are interested in ORCAgym are comparing it to the libraries listed below
Sorting:
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 6 months ago
- [IROS 2024] DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies☆22Updated 4 months ago
- ☆18Updated 11 months ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆43Updated 2 years ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆17Updated 2 years ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆22Updated 2 weeks ago
- Code for our ICRA 2024 paper on learning diverse skills☆20Updated last year
- terrain-robustness benchmark for legged locomotion☆54Updated 2 years ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆50Updated last year
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆41Updated 2 months ago
- Towards better athletic intelligence☆24Updated last year
- Deploying a quadruped robot policy trained in Isaacgym to ROS2 Gazebo for Sim-to-Sim☆19Updated last month
- ☆77Updated last year
- ☆37Updated 7 months ago
- ☆40Updated 6 months ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆49Updated 2 years ago
- ☆28Updated 7 months ago
- Quaternion Model Predictive Control for Legged Robots☆50Updated 8 months ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated last year
- ☆29Updated 9 months ago
- ☆14Updated 2 years ago
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆26Updated 2 years ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆45Updated last week
- A collection of MPC walking scripts with various models☆36Updated 3 months ago
- Lightweight Isaac Gym Environment Builder☆37Updated 2 years ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆59Updated last week
- Mujoco Gym environment for the control of quadruped robots☆39Updated last week
- Learn how to design a footstep planner for humanoid robots, breaking down the entire process step by step: 2D footsteps planning, 3D feet…☆17Updated 4 months ago
- Humanoid loco-manipulation controller☆31Updated 4 months ago
- ☆28Updated 3 months ago