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

Humanoid robotics prototyping environment based on OpenRAVE

A python package for simulating motion in continuous environments and spatial cell types (e.g. place cell).

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

A Multi-Task Dataset for Simulated Humanoid Control

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).

A PLEN2 Robot learns to walk using Twin-Delayed Deep Deterministic Policy Gradient in Gazebo and PyBullet with a custom OpenAI Gym interface

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

Developing a four-legged Quadruped robot 'DIPLOID' with stable walking by reinforced learning on bezier gait and terrain awareness using SLAM technique as a part of long-term project undertaken by Team Robocon. (2019-present)

Probabilistic Contact State Estimation for Legged Robots in ROS

Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.

Mujoco Gym environment for the control of quadruped robots

FreeClimber is a background-subtracting particle detection platform designed to quantify group climbing performance in a Drosophila negative geotaxis (climbing) assay

Train a balancing policy for Upkie by reinforcement learning

Unsupervised Cross-subject Adaptation for Predicting Human Locomotion Intent

Agile Quadruped Locomotion RL based on bullet

A system for generating diverse, physically compliant 3D human motions across multiple motion types, guided by plot contexts to streamline creative workflows in anime and game design.

[ICML 2023 Oral] Official environments and implementations for "Subequivariant Graph Reinforcement Learning in 3D Environments"

A neuromechanical model of adult Drosophila melanogaster.

Universal locomotion control package for holonomic rovers for ROS framework