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README.md

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+# go2_rl_robotlab
+
+## Overview
+
+Train Unitree Go2 with MoE-CTS.
+
+This is a reproduction version of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym) on robotlab/isaaclab.
+
+## Installation Guide
+
+### 1. Base Installation
+Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html).
+
+Notice that we use certain version of IsaacLab packages, make sure:
+```
+isaacsim <= 5.1.0.0 # tested on 5.1.0.0
+isaaclab <= 0.53.1 # tested on 0.53.1
+isaaclab-rl <= 0.4.7 # tested on 0.4.7
+```
+
+### 2. Modified Library Setup
+This branch uses a customized version of `rsl_rl` and `robot_lab`. To install it, run the following commands in your terminal:
+
+```bash
+python -m pip install -e source/robot_lab
+python -m pip install -e source/rsl_rl
+```
+
+## Try examples
+
+You can use the following commands to run all environments:
+
+RSL-RL:
+
+```bash
+# Train
+python scripts/reinforcement_learning/rsl_rl/train.py --task=<ENV_NAME> --headless
+
+# Play
+python scripts/reinforcement_learning/rsl_rl/play.py --task=<ENV_NAME>
+```