Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research.

[arXiv 2025] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Add IK-CONFIG auto-generation function for humanoid robots.

[ICRA 2024]: Train your parkour robot in less than 20 hours.

Legged Robot environments for reinforcement learning in Genesis

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions" on unitree G1

A repository that offers a complete simulation environment training and physical deployment for the Unitree Go2w robots.

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.

Official implementation of NeurIPS 2024 paper: "Omnigrasp: Simulated Humanoid Grasping on Diverse Objects".