A legged_gym based framework for training legged robots in Genesis, IsaacGym and IsaacSim.
- Fix pyproject.toml with opencv-python
- Add structured Chinese tutorials to beginners
- Add curriculum manager in runners for dynamicly tuning params without resume
- Add cmd keyboard control option in play.py
- Add AMP for stylistic learning
- Add GMR for motion retargeting
Enjoy this fork! Issues and PRs are welcome.
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Totally based on legged_gym
This framework keeps most apis and conventions consistent with legged_gym, providing good readability and better control over training pipeline.
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Integration of multiple simulators
We support training in either of three simulators: IsaacGym, Genesis and IsaacSim.
Quick tips for choosing among three simulators:
- Faster training but worse rendering -> IsaacGym
- Both training speed and support for fluid, soft materials -> Genesis
- More realistic rendering at the cost of training speed -> IsaacSim.
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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 SPO (Simple Policy Optimization) Simple Policy Optimization legged_robot_config.pyCTS (Concurrent Teacher Student) CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion go2_cts
Please refer to the doc of this repo.
| Robot | Sim | Real |
|---|---|---|
| Unitree Go2 |  |
video |
| TRON1_PF |  |
video |
| TRON1_SF |  |
|
| Unitree G1 DeepMimic |  |
- 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 (2026/02/13)
- Add support for IsaacSim simulator (2026/02/15)
- Add support for DeepMimic Implementation (2026/02/28)
- Add support for TRON1_WF
- Add support for warp-based depth camera