hub / github.com/Manaro-Alpha/DreamWaQ
github.com/Manaro-Alpha/DreamWaQ @main
Chat with this repo
457 symbols
1,131 edges
66 files
42 documented · 9%
● updated 8mo ago★ 2629 open issues
Browse by type
What it actually does AI analysis from the code graph — generated when you open this
loading…
README
DreamWaQ
Description
This repo contains implementation of the paper Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning
Table of Contents
Installation
This repo requires the following packages: - Isaac Gym - Legged Gym - RSL-RL
To install Isaac Gym, go to the link and follow the instructions on the page.
-
clone this repo
cd rsl_rl-1.0.2
pip install -e .
cd ..
cd legged_gym
pip install -e .
cd ..
Usage
To train your robot run
python3 legged_gym/scripts/train.py --task=[robot name]
To evaluate the trained policy run
python3 legged_gym/scripts/play.py --task=[robot name]
Go1:
Configuration
Requires python 3.8 and numpy version<=1.24.
Core symbols most depended-on inside this repo
↓ 6 filesOnPolicyRunner
rsl_rl-1.0.2/rsl_rl/runners/on_policy_runner.py
↓ 5 filesTaskRegistrylegged_gym/legged_gym/utils/task_registry.py
↓ 5 filesLeggedRobotlegged_gym/legged_gym/envs/base/legged_robot.py
↓ 5 filesget_argslegged_gym/legged_gym/utils/helpers.py
↓ 4 filesLeggedRobotCfgPPOlegged_gym/legged_gym/envs/base/legged_robot_config.py
↓ 4 filesLeggedRobotCfglegged_gym/legged_gym/envs/base/legged_robot_config.py
Shape
Languages
Python98%
C++2%
Modules by API surface
legged_gym/legged_gym/envs/base/legged_robot.py54 symbols
legged_gym/go1_gym_deploy/utils/cheetah_state_estimator.py31 symbols
legged_gym/go1_gym_deploy/utils/command_profile.py26 symbols
legged_gym/legged_gym/envs/base/legged_robot_config.py22 symbols
rsl_rl-1.0.2/rsl_rl/modules/actor_critic_DWAQ.py16 symbols
legged_gym/legged_gym/utils/helpers.py15 symbols
rsl_rl-1.0.2/rsl_rl/modules/actor_critic.py14 symbols
legged_gym/legged_gym/envs/anymal_c/flat/anymal_c_flat_config.py13 symbols
rsl_rl-1.0.2/rsl_rl/storage/rollout_storage.py12 symbols
legged_gym/go1_gym_deploy/utils/logger.py12 symbols
rsl_rl-1.0.2/rsl_rl/modules/actor_critic_recurrent.py11 symbols
legged_gym/legged_gym/envs/cassie/cassie_config.py11 symbols
For agents
$ claude mcp add DreamWaQ \
-- python -m otcore.mcp_server <graph>