Official Repository for The Report, A Trajectory-based Reinforcement Learning Approach for Autonomous Locomotion of a Rat Robot

Learning Locomotion: Symmetry and Torque Limit Considerations, MSc thesis

An educational robot platform using the STM Nucleo F446RE, featuring applications for locomotion, sensor interfacing, and autonomous navigation, with modular, customizable code.

Finale project for Control Problems in Robotics course at La Sapienza

Development of a spinal pattern generator (SPG) model to predict muscle activations at the ankle joint during walking

A memory-efficient, realistic, real-time controllable locomotion generator.

NeuroWalker is a bio-inspired locomotion control system for a six legged robot

Advanced robotics course project. To do a simulation of hopping robot with forward velocity control and height control

EKF model to estimate humanoid state (pose + velocities) based on floating base dynamics equations.

Context-Based Meta-Reinforcement Learning with Bayesian Nonparametric Models (MELTS)

A CPG-based locomotion control example of a robotic fish, implemented on the Arduino.

Representing robots as graphs for reinforcement-learning in PyBullet locomotion environments.

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

Robot/simulation switch for the mjbots stack

ALLSTEPS: Curriculum-driven Learning of Stepping Stone Skills (SCA 2020)

Official codebase for PRELUDE (Perceptive Locomotion Under Dynamic Environments)

Implementation of the Belief State Encoder / Decoder in the new breakthrough robotics paper from ETH Zürich

Isaaclab based Parkour locomotion