Legged RL Deploy
A deployment framework for reinforcement learning (RL) policies on Unitree Go2 and G1 robots.
Legged Robotics Lab
A research-oriented collection of code, papers, and resources for legged robotics and model- and learning-based control.
Perception-Aware Multi-Terrain Humanoid Walking via Nonlinear MPC
An online nonlinear MPC planner for perception-aware multi-terrain humanoid walking based on OCS2.
Stable Multi-Terrain Humanoid Walking via Convex Model Predictive Control
A convex MPC-based motion control framework for stable multi-terrain humanoid walking based on Cheetah-Software.