Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
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Jan 26, 2025 - Python
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locomotion
Here are 82 public repositories matching this topic...
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)
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May 4, 2026 - Python
[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
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Jan 17, 2024 - Python
Open-source wheeled biped robots
python reinforcement-learning robotics simulation locomotion pid-control legged-robots legged-robotics model-predictive-control wheeled-biped
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May 4, 2026 - Python
[NeurIPS 2025] Flow x RL. "ReinFlow: Fine-tuning Flow Policy with Online Reinforcement Learning". Support VLAs e.g., Pi0, Pi0.5, GR00TN1.5. Fully open-sourced.
flow robotics rl manipulation locomotion vla robot-learning fine-tuning post-training actorcritic pi0 policygradient finetuning-rl visuomotor finetuning-vision-models flowmatching onlinerl
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Apr 24, 2026 - Python
A python package for simulating movement and spatial cell types (e.g. place cells, grid cells) in continuous environments.
reinforcement-learning simulation motion neuroscience box computational-neuroscience rat gym neurons continuous modelling locomotion ephys trajectory hippocampus gym-environment modelling-biological-systems grid-cells place-cells boundary-vector-cells
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Apr 9, 2026 - Python
Humanoid robotics prototyping environment based on OpenRAVE
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Feb 19, 2024 - Python
Model Predictive Control in JAX
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May 13, 2026 - Python
A Multi-Task Dataset for Simulated Humanoid Control
reinforcement-learning motion-capture mocap locomotion imitation-learning mujoco dm-control reinforcement-learning-datasets humanoid-control motion-imitation deepmind-control-suite
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Mar 27, 2025 - Python
Code for "PHUMA: Physically-Grounded Humanoid Locomotion Dataset"
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May 27, 2026 - Python
A legged manipulator framework based on IsaacLab
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Sep 12, 2025 - Python
Create motion for any robot through editing keyframe
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Mar 27, 2026 - Python
Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969
machine-learning ai robotics ml artificial-intelligence control-systems locomotion large-language-models
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Sep 22, 2023 - Python
LocoFormer - Generalist Locomotion via Long-Context Adaptation
deep-learning transformers artificial-intelligence locomotion adaptation attention-mechanisms cross-embodiment
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May 29, 2026 - Python
SWAGGER: Sparse WAypoint Graph Generation for Efficient Routing
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May 18, 2026 - Python
An IsaacLab extension by DLS for basic locomotion tasks on multiple quadruped robots, with sim-to-sim and sim-to-real pipelines
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May 27, 2026 - Python
Probabilistic Contact State Estimation for Legged Robots in ROS
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Dec 9, 2024 - Python
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.
locomotion system-design human-scene-interaction human-motion-generation human-human-interaction human-interaction-generation
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Feb 6, 2025 - Python
Mujoco Gym environment for the control of quadruped robots
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Mar 12, 2026 - Python
A neuromechanical model of adult Drosophila melanogaster.
simulation evolutionary-algorithms locomotion pybullet drosophila-melanogaster published-article gait-optimization
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Oct 11, 2024 - Python
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