locomotion

15 projects share this GitHub topic

Lines connect members that are measurably related to each other. Dot size reflects stars.

🧬 Members

humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer…

★ 2k

OpenLoco

An open source re-implementation of Chris Sawyer's Locomotion

★ 1.8k

towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

★ 1.1k

spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

★ 933

mesh_navigation

The Mesh Navigation Stack: Efficient Mobile Robot Navigation in Uneven Terrain

★ 878

Quadruped-PyMPC

A model predictive controller for quadruped robots based on the single rigid body model and written in…

★ 493

open-quadruped

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full…

★ 483

awesome-legged-locomotion-learning

A curated list of resources relevant to legged locomotion learning of robotics.

★ 482

Dojo.jl

A differentiable physics engine for robotics

★ 393

Deep-Whole-Body-Control

[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

★ 392

upkie

Open-source wheeled biped robots

★ 391

quadruped_ctrl

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

★ 358

wb_humanoid_mpc

Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control

★ 351

ReinFlow

[NeurIPS 2025] Flow x RL. "ReinFlow: Fine-tuning Flow Policy with Online Reinforcement Learning". Support…

★ 349

xpp

Visualization of Motions for Legged Robots in ros-rviz

★ 339

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