Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

Xinyang Gu, Yen-Jen Wang, Jianyu Chen
4/8/2024
cs.ROcs.AIcs.LG

No official code found. Best implementation: roboterax/humanoid-gym (2,073 stars, last commit 2025-01-26).

Abstract

Humanoid-Gym is an easy-to-use reinforcement learning (RL) framework based on Nvidia Isaac Gym, designed to train locomotion skills for humanoid robots, emphasizing zero-shot transfer from simulation to the real-world environment. Humanoid-Gym also integrates a sim-to-sim framework from Isaac Gym to Mujoco that allows users to verify the trained policies in different physical simulations to ensure the robustness and generalization of the policies. This framework is verified by RobotEra's XBot-S (1.2-meter tall humanoid robot) and XBot-L (1.65-meter tall humanoid robot) in a real-world environment with zero-shot sim-to-real transfer. The project website and source code can be found at: https://sites.google.com/view/humanoid-gym/.

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Code Implementations(1)

roboterax/humanoid-gymCommunity100%

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

2,073254PythonMar 4, 20241 years ago
aiartificial-intelligencecontrol-systemshumanoid-robotlocomotion+2 more

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Cite this paper

@article{gu2024humanoidgym,
  title  = {Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer},
  author = {Xinyang Gu and Yen-Jen Wang and Jianyu Chen},
  year   = {2024},
  eprint = {2404.05695},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2404.05695v2}
}

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