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<div align="center">
<h1 align="center">Go2 RL GYM</h1>
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<span>🌎 English</span> | <a href="README_zh.md">🇨🇳 中文</a> | <a href="https://arxiv.org/abs/2602.00678">📄 Paper</a>
<span>🌎 English</span> | <a href="README_zh.md">🇨🇳 中文</a> | <a href="https://arxiv.org/abs/2602.00678">📄 Paper [RSS 2026]</a>
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<p align="center">
<strong>This repository builds on <a href="https://github.com/unitreerobotics/unitree_rl_gym">unitree_rl_gym</a> to train the Unitree Go2 quadruped with reinforcement learning.</strong>
<strong>This repository builds on <a href="https://github.com/unitreerobotics/unitree_rl_gym">unitree_rl_gym</a> to train the Unitree Go2 quadruped with reinforcement learning.</br>For the IsaacLab-based version, see <a href="https://github.com/wertyuilife2/go2_rl_robotlab">go2_rl_robotlab</a>.</strong>
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| ![python deploy](https://raw.githubusercontent.com/robogauge/picture-bed/refs/heads/main/deploy/py_deploy_with_commands.gif) | ![cpp deploy](https://raw.githubusercontent.com/robogauge/picture-bed/refs/heads/main/deploy/cpp_deploy_with_commands.gif) |
C++ Deployment: Policy 1/2/4 trained by go2_rl_gym, Policy 3 trained by [go2_rl_robotlab](https://github.com/wertyuilife2/go2_rl_robotlab).
https://github.com/user-attachments/assets/b72e10f2-ffdb-407d-bb1f-9d545e7f9f63
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## 🎉 Acknowledgements

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<div align="center">
<h1 align="center">Go2 RL GYM</h1>
<p align="center">
<a href="README.md">🌎 English</a> | <span>🇨🇳 中文</span> | <a href="https://arxiv.org/abs/2602.00678">📄 Paper</a>
<a href="README.md">🌎 English</a> | <span>🇨🇳 中文</span> | <a href="https://arxiv.org/abs/2602.00678">📄 Paper [RSS 2026]</a>
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<p align="center">
<strong>本仓库基于<a href="https://github.com/unitreerobotics/unitree_rl_gym">unitree_rl_gym</a>，使用强化学习训练Go2机器狗。</strong>
<strong>本仓库基于<a href="https://github.com/unitreerobotics/unitree_rl_gym">unitree_rl_gym</a>，使用强化学习训练Go2机器狗。</br>基于IsaacLab开发的版本请见<a href="https://github.com/wertyuilife2/go2_rl_robotlab">go2_rl_robotlab</a>。</strong>
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| ![python deploy](https://raw.githubusercontent.com/robogauge/picture-bed/refs/heads/main/deploy/py_deploy_with_commands.gif) | ![cpp deploy](https://raw.githubusercontent.com/robogauge/picture-bed/refs/heads/main/deploy/cpp_deploy_with_commands.gif) |
C++ 部署效果：策略1/2/4由go2_rl_gym训练，策略3由[go2_rl_robotlab](https://github.com/wertyuilife2/go2_rl_robotlab)训练。
https://github.com/user-attachments/assets/b72e10f2-ffdb-407d-bb1f-9d545e7f9f63
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## 🎉 致谢