A unified framework for robot learning
Repository to accompany RSS 2018 paper on dexterous hand manipulation
Explorer is a PyTorch reinforcement learning framework for exploring new ideas.
OpenAI Gym environment solutions using Deep Reinforcement Learning.
Multi-rotor Gym
Mujoco Gym environment for the control of quadruped robots
Mujoco Model for UR5-Ridgeback-Robotiq Robot
PPO implementation of Humanoid-v2 from Open-AI gym
PPO implementation for controlling a humanoid in Gymnasium's Mujoco environment, featuring customizable training scripts and multi-environment parallel training.
Meta QLearning experiments to optimize robot walking patterns
Soft robotics in MuJoCo
Efficient Model-Based Deep Reinforcement Learning with Predictive Control: Developed a Model-Based RL algorithm using MPC, achieving convergence in 200 episodes (best case) and 1000 episodes on average, outperforming SAC/DQN (10,000+ episodes). Enhanced sample efficiency by 80-90% using learned dynamics and CEM for trajectory optimization.
IsaacLab to Mujoco GO2 deploy, IsaacLab to Real world GO2 deploy
Sparse environment for MuJoCo suite (v2 and v3)
Official Tensorflow implementation of 'Goal-Conditioned End-to-End Visuomotor Control for Versatile Skill Primitives'
Training a Donkey Car to drive/park using Imitation Learning
An Apptainer/Singularity container for using various GPU-based physics simulators (mujoco-mjx, genesis)
Comparison between use of arms and w/o it using MPC
A pytorch-version implementation of RL algorithms. Now it collects TRPO, ClipPPO, A2C, GAIL and ADCV.
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