Locomotion Collection

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🔥Fire

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“Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes”

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🔮Psychic

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“Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695”

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🔥Fire

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

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🔥Fire

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“Completely reworked and improved C++ version of Advanced Locomotion System V4.”

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🔥Fire

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

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🔥Fire

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

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🔥Fire

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

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🔥Fire

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“Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC”

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📦Normal

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

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🔮Psychic

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“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)”

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🔥Fire

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“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.”

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⚙️Steel

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“A floating character controller for Bevy”

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📦Normal

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“A differentiable physics engine for robotics”

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🔮Psychic

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

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🔮Psychic

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“Open-source wheeled biped robots”

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🔥Fire

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

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🔥Fire

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“ Visualization of Motions for Legged Robots in ros-rviz”

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🔮Psychic

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“[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. ”