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"

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

Navegación autónoma basada en Redes Neuronales

The code & files for the article "Metrics for Assessing Generalization of Deep Reinforcement Learning in Parameterized Environments".

Repository created using https://github.com/google-deepmind/mujoco_playground as base in order to add the Go2 walking and handstand policies. It contains the code to train and simulate the policy.

Deploy the RL policy in mujoco