cyy/go2_rl_robotlab
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update history length to 10; update readme; add demo resources; update policy files and deploy config.

Browse Source
This commit is contained in:
wertyuilife
2026-06-12 05:20:29 +08:00
parent f78f791275
commit 7f13461612
9 changed files with 115 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

76
README.md
View File

@@ -1,22 +1,90 @@
<div align="center">
<h1 align="center">Go2 RL RobotLab</h1>
<a href="https://robogauge.github.io/complete/">
<img src="https://img.shields.io/badge/Project-Page-green.svg" alt="Project Page"/>
</a>
<a href="https://robogauge.github.io/static/files/arxiv.pdf">
<img src="https://img.shields.io/badge/Paper-RSS%202025-blue.svg" alt="RSS 2025 Paper"/>
</a>
<a href="https://arxiv.org/abs/2602.00678">
<img src="https://img.shields.io/badge/arXiv-2602.00678-b31b1b.svg" alt="arXiv:2602.00678"/>
</a>
<a href="https://github.com/wty-yy/go2_rl_gym">
<img src="https://img.shields.io/badge/IsaacGym-go2__rl__gym-orange.svg" alt="IsaacGym go2_rl_gym"/>
</a>
</div>
## Overview
Train a Unitree Go2 robot in IsaacLab, and deploy policy to MuJoCo for Sim2Sim. For more, see the [project page](https://robogauge.github.io/complete/).
Train the Unitree Go2 robot with MoE-CTS in IsaacLab, and deploys policy to MuJoCo for Sim2Sim.
It is a official reproduction of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym), adapted to the IsaacLab / RobotLab ecosystem.
It is an official [MoE-CTS](https://robogauge.github.io/static/files/arxiv.pdf) algorithm implementation in IsaacLab / RobotLab, as a reproduction of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym).
---
<p align="center">
<img src="resources/go2/isaaclab_scene.png" width="70%"/>
<img src="resources/results/isaaclab_scene.png" width="70%"/>
</p>
---
## Demos
<p align="center">
<b>Train in IsaacLab → validate with MuJoCo Sim2Sim → evaluate on the real Unitree Go2.</b>
</p>
<table>
<tr>
<td width="50%" align="center">
<b>IsaacLab Play</b><br/>
<sub>Policy rollout in the IsaacLab environment.</sub><br/><br/>
<img src="https://raw.githubusercontent.com/wertyuilife2/picture-bed/main/go2_rl_robotlab/demo-isaaclab.gif" width="80%"/>
</td>
<td width="50%" align="center">
<b>MuJoCo Sim2Sim</b><br/>
<sub>Exported policy running in MuJoCo before real-world deployment.</sub><br/><br/>
<img src="https://raw.githubusercontent.com/wertyuilife2/picture-bed/main/go2_rl_robotlab/demo-sim2sim.gif" width="80%"/>
</td>
</tr>
<tr>
<td width="50%" align="center">
<b>Real Robot</b><br/>
<sub>Robust walking front on stairs.</sub><br/><br/>
<img src="https://raw.githubusercontent.com/wertyuilife2/picture-bed/main/go2_rl_robotlab/demo-real-walk-front.gif" width="100%"/>
</td>
<td width="50%" align="center">
<b>Real Robot</b><br/>
<sub>Robust walking sideways on stairs.</sub><br/><br/>
<img src="https://raw.githubusercontent.com/wertyuilife2/picture-bed/main/go2_rl_robotlab/demo-real-walk-side.gif" width="100%"/>
</td>
</tr>
</table>
---
## RoboGauge Benchmark
<p align="center">
<b><a href="https://github.com/wty-yy/RoboGauge">RoboGauge</a> score comparison between go2_rl_robotlab and the original go2_rl_gym.</b>
</p>
<p align="center">
<img src="resources/results/robogauge_compare.png" width="100%"/>
</p>
### Algorithm Results (Best of 150k training steps)
| Model | Score | Tracking | Safety | Quality | Level |
| --- | --- | --- | --- | --- | --- |
| go2_moe_cts (go2_rl_robotlab) | **0.6828** | **0.6785** | 0.7552 | **0.7645** | **8.17** |
| go2_moe_cts (go2_rl_gym) | **0.6713** | 0.6669 | **0.7857** | 0.7392 | 7.85 |
| [CTS](https://arxiv.org/pdf/2405.10830) vanilla | 0.5786 | 0.5755 | 0.7066 | 0.6624 | 6.83 |
| [HIM](https://github.com/InternRobotics/HIMLoco) | 0.5379 | 0.5453 | 0.6476 | 0.6050 | 6.19 |
| [DreamWaQ](https://arxiv.org/abs/2301.10602) | 0.5054 | 0.5105 | 0.6149 | 0.5730 | 5.74 |
---
## Installation Guide
### 1. Install IsaacLab