Robot Parkour Learning

Project website: https://robot-parkour.github.io/

This codebase is contains implementation for training and visualizing the result of paper Robot Parkour Learning

To install and run the code, please clone this repository and follow the instructions in legged_gym/README.md

Repository Structure

• legged_gym: contains the isaacgym environment and config files.
  • legged_gym/legged_gym/envs/a1/: contains all the training config files.
  • legged_gym/legged_gym/envs/base/: contains all the environment implementation.
  • legged_gym/legged_gym/utils/terrain/: contains the terrain generation code.
• rsl_rl: contains the network module and algorithm implementation. You can copy this folder directly to your robot.
  • rsl_rl/rsl_rl/algorithms/: contains the algorithm implementation.
  • rsl_rl/rsl_rl/modules/: contains the network module implementation.

Trouble Shooting

If you cannot run the distillation part or all graphics computing goes to GPU 0 dispite you have multiple GPUs and have set the CUDA_VISIBLE_DEVICES, please use docker to isolate each GPU.

To Do

The code is currently only for training and visualizing in simulation.

The code and instructions for real robot is on the way.

Before November 2023, the code for real robot (A1 and Go1) and the checkpoint will be released.

Citation

If you find this code useful in your research, please consider citing:

@inproceedings{
    zhuang2023robot,
    title={Robot Parkour Learning},
    author={Ziwen Zhuang and Zipeng Fu and Jianren Wang and Christopher G Atkeson and S{\"o}ren Schwertfeger and Chelsea Finn and Hang Zhao},
    booktitle={7th Annual Conference on Robot Learning},
    year={2023},
    url={https://openreview.net/forum?id=uo937r5eTE}
}