[CoRL 2024] Open-TeleVision: Teleoperation with Immersive Active Visual Feedback

[IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains

[ICRA 2025] Official Implementation of "Robust Robot Walker: Learning Agile Locomotion over Tiny Traps"

SpaceR and SRL Lunar simulation

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

Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conference on Robot Learning (CoRL),

[CoRL 2024] HumanPlus: Humanoid Shadowing and Imitation from Humans

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

Isaac Gym Reinforcement Learning Environments

Project Page for Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models

phase-based Observations, Rewards, Coupling Ablation

Fast and simple implementation of RL algorithms, designed to run fully on GPU.

Unified framework for robot learning built on NVIDIA Isaac Sim

Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)

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

Bringing Characters to Life with Computer Brains in Unity

The official implementation of Flexible Motion In-betweening with Diffusion Models, SIGGRAPH 2024

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

Learning Agile Quadrupedal Locomotion on Challenging Terrains

[ICRA 2024]: Train your parkour robot in less than 20 hours.

An example of loading custom terrain and a husky robot into Gazebo

Simulating a Stewart platform in Gazebo using a plugin to allow control of a closed loop manipulator with ROS.

Safe RLHF: Constrained Value Alignment via Safe Reinforcement Learning from Human Feedback

Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969