Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
An open source re-implementation of Chris Sawyer's Locomotion
Completely reworked and improved C++ version of Advanced Locomotion System V4.
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
The Mesh Navigation Stack: Efficient Mobile Robot Navigation in Uneven Terrain
人形机器人运动智能论文、开源项目、产业与求职知识库
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)
An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
A curated list of resources relevant to legged locomotion learning of robotics.
A floating character controller for Bevy
Open-source wheeled biped robots
[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
A differentiable physics engine for robotics
Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control
[NeurIPS 2025] Flow x RL. "ReinFlow: Fine-tuning Flow Policy with Online Reinforcement Learning". Support VLAs e.g., Pi0, Pi0.5, GR00TN1.5. Fully open-sourced.
MIT mini cheetah quadruped robot simulated in pybullet environment using ros.
Visualization of Motions for Legged Robots in ros-rviz