🦿 Legged Robotics in Genesis

A legged_gym based framework for training legged robots in Genesis and IsaacGym

Table of Contents

• 🦿 Legged Robotics in Genesis
  • Table of Contents
  • 🌟 Features
  • 🛠 Installation and Usage
  • 🖼️ Gallery
  • 🙏 Acknowledgements
  • TODO

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🌟 Features

• Totally based on legged_gym

• Integration of 2 simulators: Genesis and IsaacGym

  You can train policies in two simulators using one framework and two conda environments.

• Incorporation of various methods in published RL papers

  Method	Paper Link	Location	Materials
  Periodic Gait Reward	Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition	go2_wtw	Comparison between smooth gait function and step gait function
  System Identification	Learning Agile Bipedal Motions on a Quadrupedal Robot	go2_sysid
  Teacher-Student	Rapid Locomotion via Reinforcement Learning	go2_ts

🛠 Installation and Usage

Please refer to the doc of this repo.

🖼️ Gallery

Robot	Sim	Real
Unitree Go2 (Walk These Ways)	video	video
Bipedal Walker

🙏 Acknowledgements

• Genesis
• Genesis-backflip
• legged_gym
• rsl_rl
• unitree_rl_gym

TODO

• Add go2 deploy demos and instructions (2025/07/25)
• Add explicit estimator support
• Add teacher-student implementation (2025/08/02)