Popular GitHub Repositories for Legged Locomotion

An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.

An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

Training a humanoid robot for locomotion using Reinforcement Learning

Deep RL for MPC control of Quadruped Robot Locomotion

Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots

A curated list of resources relevant to legged locomotion learning of robotics.

A differentiable physics engine for robotics

[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

A python package for simulating movement and spatial cell types (e.g. place cells, grid cells) in continuous environments.

two wheel legged robot for IsaacLab - reinforcement learning

[ICML 2020] PyTorch Code for "One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control"

Isaaclab based Parkour locomotion

A Multi-Task Dataset for Simulated Humanoid Control

Reproduction code of paper "World Model-based Perception for Visual Legged Locomotion"

Model Predictive Control in JAX

Legged Robot environments for reinforcement learning in Genesis

A curated list of awesome material on legged robot locomotion using reinforcement learning (RL) and sim-to-real techniques.

ViNL: Visual Navigation and Locomotion over Obstacles (ICRA 2023)

Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models