本项目基于 **NVIDIA Omniverse / Isaac Lab** 大规模并行张量仿真框架，针对目前工业界最前沿的足式平台（**Unitree G1/H1 人形机器人, Unitree Go1 / ANYmal-C 机器狗**）进行了强化学习 (PPO) 步态策略的从零训练。项目深度介入了**域随机化 (Domain Randomization)** 与 **面向硬件的奖励塑形 (Hardware-Aware Reward Shaping)**，成功实现了机器人无需视觉输入、仅靠本体感觉（Proprioception）即可在崎岖地形（Rough Terrain）与极限冰面下保持动态平衡的鲁棒控制。
☆19Mar 4, 2026Updated 4 months ago
Alternatives and similar repositories for Isaac-Legged-Locomotion
Users that are interested in Isaac-Legged-Locomotion are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Includes the implementation to train PPO, DDPG or TD3 agents (from Stable-Baselines3) in Isaac Lab. The considered task includes a UR5e o…☆16Jan 8, 2025Updated last year
- Code for thesis on Multi-Robot Informative Path Planning for mapping unkown spatial fields.☆11Sep 7, 2024Updated last year
- Reinforcement learning framework for training E1 humanoid robots in Isaac Lab.☆16Dec 31, 2025Updated 7 months ago
- Reinforcement learning framework for training N2 humanoid robots in Isaac Gym. Includes environment definitions, motion loaders, AMP pipe…☆23Nov 21, 2025Updated 8 months ago
- ☆77Apr 13, 2026Updated 3 months ago
- Managed hosting for WordPress and PHP on Cloudways • AdManaged hosting for WordPress, Magento, Laravel, or PHP apps, on multiple cloud providers. Deploy in minutes on Cloudways by DigitalOcean.
- 3D freehand ultrasound calibration with a stereo-vision system☆11Dec 8, 2020Updated 5 years ago
- ☆35Jun 3, 2024Updated 2 years ago
- Least Squares Recipes for Parameter Estimation☆15Oct 10, 2014Updated 11 years ago
- ☆20Dec 9, 2024Updated last year
- Evaluate the performance metrics for different RL locomotion models.☆63Jul 22, 2026Updated last week
- RLCar Gazebo v2☆13Jun 28, 2024Updated 2 years ago
- 旅行商问题（TSP）是一种具有重要优化意义的 NP-hard 问题，广泛应用于运输设计、物流调度和旅游路线规划等领域。为解决该问题，本文采用遗传算法（Genetic Algorithm，GA）、粒子群优化算法（Particle Swarm Optimization，PSO）…☆17Dec 16, 2024Updated last year
- ☆34Mar 14, 2026Updated 4 months ago
- ☆15Jul 21, 2026Updated last week
- Open source password manager - Proton Pass • AdSecurely store, share, and autofill your credentials with Proton Pass, the end-to-end encrypted password manager trusted by millions.
- 基于 LeRobot 和 MuJoCo 的机器人学习教程，包含 ACT、pi0、SmolVLA 模型的完整复现：数据采集、训练与部署。☆19Apr 26, 2026Updated 3 months ago
- Hi-LOAM is a multi-scale implicit neural localization and mapping framework using LiDAR sensor☆19Jan 15, 2026Updated 6 months ago
- We have organized a whole process to train unitree robot g1 , sim2sim_mujoco, sim2real based on ASAP(phase1)☆35Aug 12, 2025Updated 11 months ago
- ☆16Jul 21, 2022Updated 4 years ago
- High-performance LiDAR simulation for MuJoCo with CPU/Warp/Taichi/Jax backends, supporting multiple sensor types and ROS integration. 基于 …☆152Jun 21, 2026Updated last month
- ☆25Jan 4, 2026Updated 7 months ago
- Consensus-Based Auction Algorithms Library☆17Jun 13, 2024Updated 2 years ago
- This is a repository for reinforcement learning implementation based on Unitree Go2. Official implementation of RSS 2026.☆266Jul 6, 2026Updated 3 weeks ago
- Based on the thesis "Consensus-Based Decentralized Auctions for Robust Task Allocation", the realization of consensus-based auction algor…☆17Feb 28, 2024Updated 2 years ago
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- FLORES: A reconfigured wheel-legged quadrupedal robot for enhanced steering and adaptability.☆42May 22, 2026Updated 2 months ago
- (ICRA 2024) SCALE: Self-Correcting Visual Navigation for Mobile Robots via Anti-Novelty Estimation☆11Jan 7, 2025Updated last year
- ☆17Jul 28, 2025Updated last year
- A specialized motion processing pipeline that converts GVHMR's SMPL outputs (.pt) into retargeted PBHC-compatible motions (.pkl), featuri…☆31Mar 19, 2026Updated 4 months ago
- ☆95Apr 26, 2026Updated 3 months ago
- This repository contains my code with output for generation of shortest path in a 2 D environment with static obstacles. The algorithm us…☆17Aug 11, 2020Updated 5 years ago
- RealROS is an open-source Python framework that seamlessly integrates with ROS (Robot Operating System) to create real-world robotics env…☆22Jun 2, 2026Updated 2 months ago
- ☆13Aug 15, 2020Updated 5 years ago
- Implementation of Symbolic Relational Deep Reinforcement Learning based on Graph Neural Networks☆27Aug 24, 2023Updated 2 years ago
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- Open-source robotics fundamentals curriculum in MuJoCo: kinematics, dynamics, control, trajectory, IK with Pinocchio cross-validation.☆16May 11, 2026Updated 2 months ago
- FMC-DETR: Frequency-Decoupled Multi-Domain Coordination for Aerial-View Object Detection☆15May 14, 2026Updated 2 months ago
- [ICRA-2026] AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation☆65Mar 4, 2026Updated 5 months ago
- [NeurIPS 2025 Spotlight] The official repository of "ReCon: Region-Controllable Data Augmentation with Rectification and Alignment for Ob…☆17Oct 20, 2025Updated 9 months ago
- Vision based RL agent to control a UR5 arm in Human-Robot collaborative environments☆24Jul 13, 2026Updated 3 weeks ago
- ☆17May 22, 2025Updated last year
- ☆20Nov 15, 2023Updated 2 years ago