A unified framework for robot learning
Tutorial on how to get started with MuJoCo Simulation Platform. MuJoCo stands for Multi-Joint dynamics with Contact.
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.
Mujoco Gym environment for the control of quadruped robots
IsaacLab to Mujoco GO2 deploy, IsaacLab to Real world GO2 deploy
Multi-rotor Gym
Multi-drone environment for RL with MuJoCo, with GPU vectorization, wind models, domain randomization, and curriculum learning
Mujoco Model for UR5-Ridgeback-Robotiq Robot
PPO implementation for controlling a humanoid in Gymnasium's Mujoco environment, featuring customizable training scripts and multi-environment parallel training.
PPO implementation of Humanoid-v2 from Open-AI gym
Meta QLearning experiments to optimize robot walking patterns
Code of the article "Benchmarking the Sim-to-Real Gap in Cloth Manipulation"
A reinforcement learning playground inspired by the iconic robots from ARC Raiders!
Soft robotics in MuJoCo
A tested control, planning, perception, bimanual, and learning platform for the Enactic OpenArm v2 (7-DOF x2) in MuJoCo: IK / Cartesian / compliant control, RRT-Connect planning, dynamic catching and throwing, articulated / cloth manipulation, language-commanded skills, a learned ACT vision policy, RL insertion, and OpenArm-Bench.
End-to-end implementation of Action Chunking Transformers (ACT) for imitation learning in robot manipulation tasks. Trained and evaluated in MuJoCo simulation on a pick-and-place task using the ROBOTIS FFW humanoid robot.
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)
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