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awesome-legged-locomotion-learning
A curated list of resources relevant to legged locomotion learning of robotics.
https://github.com/gaiyi7788/awesome-legged-locomotion-learning
Last synced: 1 day ago
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Related awesome-lists
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Robot models
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Bipeds
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Humanoids
- URDF
- MJCF - caron/jvrc_description) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
- URDF
- URDF - 3.0 | ✔️ | ✔️ | ✔️ |
- MJCF - caron/jvrc_description) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
- URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
- URDF
- URDF - BY-SA-4.0 | ✔️ | ✔️ | ✔️ |
- URDF - jsc-robotics/val_description) | NASA-1.3 | ✔️ | ✔️ | ✔️ |
- COLLADA - descriptions/jaxon_description), [VRML](https://github.com/start-jsk/rtmros_choreonoid/tree/master/jvrc_models/JAXON_JVRC) | CC-BY-SA-4.0 | ✔️ | ✔️ | ✔️ |
- URDF - naoqi/nao_robot/tree/master/nao_description/) | BSD-3-Clause | [:heavy_minus_sign:](https://github.com/ros-naoqi/nao_meshes#readme) | ✔️ | ✔️ |
- URDF - 1.3 | ✔️ | ✔️ | ✔️ |
- URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
- Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
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Quadrupeds
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Code
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Quadrupeds
- [**legged_gym**
- [**domain-randomizer** - randomizer.svg?logo=github)
- [**cassie-mujoco-sim** - mujoco-sim.svg?logo=github)
- [**gym-cassie-run** - isir/gym-cassie-run.svg?logo=github)
- [DRLoco - to-use-and-extend implementation of the **DeepMimic** Approach using the **MuJoCo** Physics Engine and **Stable Baselines 3**, mainly for locomotion tasks [[Doc](https://drloco.readthedocs.io/en/latest/)] 
- [**bipedal-skills** - skills.svg?logo=github)
- [terrain_benchmark - robustness benchmark for legged locomotion 
- [spot_mini_mini - to-Real Legged Locomotion. (ROS + Gazebo + Gym + Pybullet) [[Doc](https://spot-mini-mini.readthedocs.io/en/latest/index.html)]
- [apex
- [EAGERx - on RL for Robotics with EAGER and Stable-Baselines3. 
- [FRobs_RL - baselines-3. 
- [Cassie_FROST - FROST to generate a library of walking gaits for Cassie series robot. The code depends on [FROST](https://github.com/ayonga/frost-dev) and [C-FROST](https://github.com/UMich-BipedLab/C-Frost). 
- [GenLoco - trained policies and code to deploy these on simulated or real-world robots. 
- [rl-mpc-locomotion - level policy network and a lower-level model predictive controller (MPC).
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Papers
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2022
- **RSS** - AI/rapid-locomotion-rl)]
- **IEEE-RAS**
- **PMLR**
- **PMLR**
- **CoRL** - AI/walk-these-ways)]
- **CoRL**
- **CoRL**
- **ScienceRobotics**
- **CoRL**
- **ICRA**
- **ICRA**
- **ICRA**
- **ICRA**
- **IROS**
- **ICLR**
- **CVPR** - locomotion)]
- **ICMA**
- **Machines**
- **IEEE-RAS**
- **IEEE-RAS**
- **TCAS-II**
- **IEEE-TRO** - drs/rloc_manuscript_supplementary_code)]
- **IEEE-RAL**
- **ACM GRAPH**
- **IEEE-RAS**
- **CoRL**
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2021
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Quadrupeds
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2023
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2020
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2019
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2018
- **IROS** - mujoco-sim)]
- **ICRA**
- **RSS**
- **ACM SIGGRAPH**
- **IEEE RAS**
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2017
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Technical blog
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Survey
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Quadrupeds
- **sim2real**
- **sim2real**
- **sim2real**
- **RL Discussion**
- [paper - in-Reinforcement-Learning-for-Decision-Making-A-Survey)]
- [paper
- [paper
- [paper - in-Reinforcement-Learning-for-Decision-Making-A-Survey)]
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Programming Languages
Sub Categories
Keywords
robotics
5
quadruped
4
reinforcement-learning
3
urdf-models
3
isaac-gym
2
openai-gym
2
awesome
2
awesome-list
2
quadruped-robot
2
quadruped-robots
2
legged-robots
2
robot
2
urdf
2
urdf-descriptions
2
slam
1
pose-estimation
1
planning
1
neural-radiance-fields
1
nerf
1
navigation
1
manipulation
1
implicit-representations
1
implicit-neural-representation
1
dynamics
1
deep-learning
1
computer-vision
1
6d-pose-estimation
1
3d-computer-vision
1
pybullet
1
quadruped-robot-gaits
1
ros
1
spot
1
terrain
1
walker
1
robot-learning
1
cassie
1
frost
1
gym-environment
1
gait
1
environment
1
control
1
sample-efficiency
1
robust-control
1
robotics-simulation
1
mujoco-py
1
mujoco
1
deepmimic
1
deep-reinforcement-learning
1
controller
1
bipedal-robots
1