Description
Humanoids trained to walk in simulation often can't stand on real hardware. Humanoid-Gym is an RL framework for humanoid robots with zero-shot sim-to-real transfer.
It trains locomotion in Isaac Gym, validates across simulators in MuJoCo and has been proven on real robots.
RL:Locomotion.
Zero-shot:Sim to real.
Sim2sim:MuJoCo.
Proven:Real humanoids.
It trains locomotion in Isaac Gym, validates across simulators in MuJoCo and has been proven on real robots.
Features
RL:Locomotion.
Zero-shot:Sim to real.
Sim2sim:MuJoCo.
Proven:Real humanoids.
