All the supplementary videos are in here - Supplementary Videos

Project website: https://robot-parkour.github.io/
Authors: Ziwen Zhuang*, Zipeng Fu*, Jianren Wang, Christopher Atkeson, Sören Schwertfeger, Chelsea Finn, Hang Zhao
Conference on Robot Learning (CoRL) 2023, Oral, Best Systems Paper Award Finalist (top 3)

# for training metra
python legged_gym/scripts/train.py --headless --task=a1_tilt_metra

# for playing
python legged_gym/scripts/play.py --task=a1_tilt_metra --load_run={folder_path} --checkpoint=-1 

• 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.

To install and run the code for training A1 in simulation, please clone this repository and follow the instructions in legged_gym/README.md.

To deploy the trained model on your real robot, please follow the instructions in Deploy.md.

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.

• Go1 training configuration (not from scratch)
• A1 deployment code
• Go1 deployment code

If you find this project helpful to your research, please consider cite us! This is really important to us.

@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={Conference on Robot Learning {CoRL}},
    year={2023}
}