Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes

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

An open source re-implementation of Chris Sawyer's Locomotion

Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

Completely reworked and improved C++ version of Advanced Locomotion System V4.

Training a humanoid robot for locomotion using Reinforcement Learning

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Flight code for MIT CSAIL Robot Locomotion Group flying-through-forests project

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

Deep RL for MPC control of Quadruped Robot Locomotion

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

The Mesh Navigation Stack: Efficient Mobile Robot Navigation in Uneven Terrain

Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control

No description available

WebXR made simple. Full-featured framework with interactions, locomotion, and spatial UI. Powered by Three.js.

[RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

MuJoCo fruit fly body model and locomotion RL tasks

unitree Go2 robot learns locomotion with N-P3O algorithm and HIM alike policy trained by isaacgym

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

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

terrain-adaptive locomotion skills using deep reinforcement learning

The open source software to build cool stuff with locomotion

A floating character controller for Bevy

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

Kris' Locomotion and Manipulation Planning Toolkit

Low-level locomotion policy training in Isaac Lab

This is a C++/OpenCL implementation of the PCISPH algorithm supplemented with a set of biomechanics related features applied to C. elegans locomotion

A differentiable physics engine for robotics