Open-DiffLoco: Differentiable Quadruped Locomotion using SHAC #3459
MartinOpat
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Hello, hello, hello!
I wanted to share a project I recently open-sourced called open-diffloco. It’s a framework using MuJoCo XLA (MJx) that successfully trains and deploys quadruped locomotion using Short Horizon Actor-Critic (SHAC).
Getting quadruped locomotion to train and transfer successfully via differentiable simulation can be tricky, and open-source, deployable solutions are limited (i.e., until now non-existent to my knowledge). This framework provides a working, open-source pipeline.
You can find the repository here:
https://github.com/MartinOpat/open-diffloco
I hope this serves as a useful reference or alternative starting point for anyone working on similar problems. I'd love to hear your thoughts or answer any questions!
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