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wertyuilife
2026-05-29 19:43:17 +08:00
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MUJOCO_LOG.TXT
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Sat Apr 11 17:39:23 2026
WARNING: Nan, Inf or huge value in CTRL at ACTUATOR 9. The simulation is unstable. Time = 4.4000.
Sat Apr 11 17:39:34 2026
WARNING: Nan, Inf or huge value in CTRL at ACTUATOR 9. The simulation is unstable. Time = 4.4000.

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README.md
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# go2_rl_robotlab
<div align="center">
<h1 align="center">Go2 RL RobotLab</h1>
</div>
## Overview
Trains the Unitree Go2 robot using MoE-CTS in IsaacLab and deploys the trained policy to MuJoCo for simulation transfer (Sim2Sim).
Train the Unitree Go2 robot with MoE-CTS in IsaacLab, and deploys policy to MuJoCo for Sim2Sim.
It is a reproduction of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym), adapted to the RobotLab / IsaacLab ecosystem.
It is a official reproduction of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym), adapted to the IsaacLab / RobotLab ecosystem.
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