Alternatives and similar repositories for Legged-Robots

Users that are interested in Legged-Robots are comparing it to the libraries listed below

• Oscar-B-Liang / wtw_new
  ☆21Updated 11 months ago
• COST-97 / RSG
  ☆13Updated last year
• martius-lab / dominic
  Code for our ICRA 2024 paper on learning diverse skills
  ☆25Updated last year
• marmotlab / decaying_action_priors
  Official implementation of "DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies"
  ☆38Updated 3 months ago
• playful-doggybot / playful-doggybot
  Project code.
  ☆27Updated last year
• felipemohr / IsaacLab-Quadruped-Tasks
  Quadruped Tasks extension based on Isaac Lab.
  ☆46Updated 6 months ago
• dancher00 / quadruped-skateboard-mounting
  Reverse Curriculum RL approach for robodog climbing on a skateboard
  ☆31Updated 3 months ago
• Gepetto / LaCoLoco
  Repository for "Latent Conditioned Loco-Manipulation Using Motion Priors"
  ☆26Updated 4 months ago
• z-taylcr7 / Adaptivity
  Personal legged_gym Unitree A1 implementation for paper 'Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Con…
  ☆19Updated last year
• luliuxxx / LearnDiverseQuadLoco
  Learning Robot Locomotion from Diverse Datasets
  ☆14Updated 9 months ago
• iit-DLSLab / morphosymm-rl
  Extension of RSL-RL for using Morphological Symmetries in IsaacLab
  ☆24Updated last week
• DRCL-USC / ogmp
  codebase of oracle guided multimodal policies.
  ☆20Updated last year
• iit-DLSLab / basic-locomotion-dls-isaaclab
  An IsaacLab extension from DLS for basic locomotion tasks on multiple quadruped robots, featuring sim-to-sim and sim-to-real pipelines al…
  ☆45Updated last week
• arclab-hku / bipedal_locomotion_for_quadrupedal_robots
  ☆33Updated 6 months ago
• bu-air-lab / guide_dog
  Train guide dog controller and force estimator in Isaac Gym and validate in PyBullet
  ☆23Updated 2 years ago
• felipemohr / IsaacOrbit-Quadruped-RL
  Environments for training quadruped robots in Isaac Orbit with Reinforcement Learning.
  ☆10Updated 10 months ago
• P1terQ / quad_controller
  [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments
  ☆25Updated last year
• HybridRobotics / SymmLoco
  ☆57Updated last year
• hojae-io / LearningHumanoidArmMotion-RAL2025-Code
  Open Source Code for RA-L 2025 Paper
  ☆61Updated 4 months ago
• xiaoliangstd / WBC-four-leg-robot-controller
  pybullet WBC quadruped robot
  ☆12Updated 3 years ago
• DRCL-USC / Learning_MPC_Jumping
  Learning Model for Aggressive Jumping Maneuvers
  ☆27Updated 10 months ago
• yinghansun / pympc-quadruped
  A Python implementation about quadruped locomotion using convex model predictive control (MPC).
  ☆50Updated 2 years ago
• P1terQ / LEEPS
  [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains
  ☆76Updated last year
• yunifuchioka / opt-mimic-raisim
  RL code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"
  ☆29Updated 2 years ago
• ammousa / TARLoco
  Contrastive learning for quadrupedal locomotion control, featuring Teacher-Aligned Representations (TAR) to improve sim-to-real generaliz…
  ☆29Updated 5 months ago
• marmotlab / SATA
  SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning
  ☆37Updated 8 months ago
• uiuckimlab / CHILD
  Official Github repository for "CHILD: a Whole-Body Humanoid Teleoperation System". (Humanoids 2025)
  ☆39Updated this week
• ACT-legmotion / AcL-ActionLearner
  Action Learner for quadruped fault-tolerant locomotion.
  ☆16Updated 10 months ago
• MJianM / LeggedRobotController
  多足机器人MPC控制器+仿真环境
  ☆13Updated 2 years ago
• NTNU-ERC / Robinion-Balance-Board-PPO
  Humanoid robot playing balance board in NVIDIA Isaac Gym using PPO.
  ☆16Updated 3 years ago