sim2sim

Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots

Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.

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

Deploying a quadruped robot policy(DreamWaQ, walk-these-ways, HIMLoco) trained in Isaacgym to ROS2 Gazebo for Sim-to-Sim

A ROS2 controller for a UR arm leveraging IsaacLab's trained policy for sim-to-real reaching tasks.

Automatic Domain Randomization (ADR) proposed in "Solving Rubik's Cube with a Robot Hand"

DDC (Deployable Dynamic-CoM): a unified policy and method-agnostic sim2sim benchmark for humanoid single-leg stance; deploys on a real Unitree G1. arXiv:2608.00500

Deep Reinforcement Learning and Imitation Learning with sim2sim exploration and behavior cloning

Velocity tracking and sim-to-sim transfer for Unitree H1 humanoid locomotion using reinforcement learning.

Lightweight repo for getting started with learning to control the Unitree G1 humanoid robot with sim2sim (mujoco & isaac lab) and sim2real policy validation.

Policy-driven robotics simulation experiments with measurable task execution, physics validation, and simulator-to-simulator testing.

Unitree Go2 Tier-1 RoboPay profile — 9 priced embodied skills (wave, sit, stand, stop, bow, nod, turn_to_face, hold, navigate_obstacle) on MuJoCo + PyBullet sim-to-sim (measured ≤0.02 cm) + Webots R2025a harness, x402 payment gate, durable replay, and live Base Sepolia EIP-3009 settlement proof.

四足机器人 Go2 全栈控制：Convex MPC · RL（BC/PPO/域随机化）· 混合仲裁，同一套 72 试验推力协议下恢复率 94% —— 全程 CPU 训练，附与代码逐项一致的数学设计文档

DM-Dog-RL is a reinforcement-learning locomotion project for a Damiao-motor quadruped robot. It contains both the training stack and the real-robot ROS deployment workspace.

Human mocap retargeting and whole-body motion tracking for humanoids (Unitree G1, IGRIS-C) in Isaac Lab and MuJoCo. Simulation only.

Unitree G1 locomotion: Isaac Lab RL -> ONNX manifest -> MuJoCo sim-to-sim -> 1 kHz C++ control

GEAR-SONIC adaptation for the 23-DoF Galaxea Kengo; restricted robot assets are pinned through a private submodule.

sim2real of closed-loop quadrupedal robot