Reinforcement learning implementation of the quadruped get-up task in IsaacLab. It includes different robots, with scripts for sim-to-sim and sim-to-real transfer.
Features:
- Rapid Motor Adaptation
- Identification of robot parameters for sim2real using pace via our repo sim2real-robot-identification
- Sim-to-Sim in Mujoco
- Sim-to-Real using ROS2
Real-world deployment via:
- unitree-ros2-dls for unitree robot communication
A list of robots and environments available is described below:
| Robot Model | Environment Name Pattern |
|---|---|
| Go2 | GetUp-RobotModel-Flat-Blind GetUp-RobotModel-Rough-Blind |
If you want only to deploy a trained policy on your robot, continue on README_DEPLOY otherwise on README_TRAIN.
For the train, check first the compatibility with IsaacLab and rsl-rl at the top of this readme. They indicate the releases that we tested.
PRs are very welcome (search for TODO in the issue, or add what you like)!
If you find the work useful and you adopt Morphological Symmetries, please consider citing one of our works:
@inproceedings{suhuang2024leveraging,
author={Su, Zhi and Huang, Xiaoyu and Ordoñez-Apraez, Daniel and Li, Yunfei and Li, Zhongyu and Liao, Qiayuan and Turrisi, Giulio and Pontil, Massimiliano and Semini, Claudio and Wu, Yi and Sreenath, Koushil},
booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Leveraging Symmetry in RL-based Legged Locomotion Control},
year={2024},
pages={6899-6906},
doi={10.1109/IROS58592.2024.10802439}
}
@article{ordonez2025morphosymm,
author = {Daniel Ordoñez-Apraez and Giulio Turrisi and Vladimir Kostic and Mario Martin and Antonio Agudo and Francesc Moreno-Noguer and Massimiliano Pontil and Claudio Semini and Carlos Mastalli},
title ={Morphological symmetries in robotics},
journal = {The International Journal of Robotics Research},
year = {2025},
volume = {44},
number = {10-11},
pages = {1743-1766},
doi = {10.1177/02783649241282422},
}
This repository is maintained by Giulio Turrisi.