- implements the DeepMimic Framework
- using the PPO algorithm from the Stable-Baselines3 repository
- to obtain (deep reinforcement) learning-based controllers
- for (walking) robots simulated with the MuJoCo Physics Engine.
- you have a bipedal robot and need a controller to generate stable human-like walking
- you have a MuJoCo model of a bipedal robot and you want it to learn to walk like a human
- you have any kind of a legged robot and a set of reference trajectories (e.g. motion capturing) and you want a robust controller to let your robot imitate the reference motion
- you want to try out the DeepMimic Approach with minimal effort
- you need high quality mocap data for Imitation Learning
Documentation is available online: https://drloco.readthedocs.io/
The documentation is not yet fully finished and currently on hold.