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.
IsaacLab to Mujoco GO2 deploy, IsaacLab to Real world GO2 deploy
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.
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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