Go1 Sim-to-Real Locomotion

Overview

This repository provides an implementation of the paper:

Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion
Boyuan Liang, Lingfeng Sun, Xinghao Zhu, Bike Zhang, Yixiao Wang, Ziyin Xiong, Chenran Li, Koushil Sreenath and Masayoshi Tomizuka

paper / project page

If you use this repository in your work, consider citing:

@article{liang2024adaptive,
  title={Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion},
  author={Liang, Boyuan and Sun, Lingfeng and Zhu, Xinghao and Zhang, Bike and Xiong, Ziyin and Li, Chenran and Sreenath, Koushil and Tomizuka, Masayoshi},
  journal={arXiv preprint arXiv:2403.20001},
  year={2024}
}

This environment builds on the walk these way by Gaberial Margolis and Pulkit Agrawal, Improbable AI Lab, MIT.