A legged_gym based framework for training legged robots in Genesis and IsaacGym
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Totally based on legged_gym
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Integration of 2 simulators: Genesis and IsaacGym
You can train policies in two simulators using one framework and two conda environments.
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Incorporation of various methods in published RL papers
Method Paper Link Code Periodic Gait Reward Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition go2_wtw Walk These Ways Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior go2_wtw System Identification Learning Agile Bipedal Motions on a Quadrupedal Robot go2_sysid Teacher-Student Rapid Locomotion via Reinforcement Learning go2_ts Explicit Estimator Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion go2_ee Constraints as Terminations CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning go2_cat DreamWaQ DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning go2_dreamwaq
Please refer to the doc of this repo.
| Robot | Sim | Real |
|---|---|---|
| Unitree Go2 |  |
video |
| TRON1_PF |  |
video |
- Add go2 deploy demos and instructions (2025/07/25)
- Add explicit estimator support (2025/09/29)
- Add teacher-student implementation (2025/08/02)
- Add Constraints as Terminations implementation (2025/10/23)
- Add support for TRON1_PF (flat and rough)
- Add DreamWaQ implementation (2025/11/27)
- Add support for TRON1_SF (flat and rough)
- Add support for TRON1_WF (flat and rough)
- Add support for warp-based depth camera