🦿 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	Code
  Periodic Gait Reward	Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition	go2_wtw
  Walk These Ways	Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior	go2_wtw
  System Identification	Learning Agile Bipedal Motions on a Quadrupedal Robot	go2_sysid
  Teacher-Student	Rapid Locomotion via Reinforcement Learning	go2_ts
  EstimatorNet	Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion	go2_ee
  Constraints as Terminations	CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning	go2_cat
  DreamWaQ	DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning	go2_dreamwaq

🛠 Installation and Usage

Please refer to the doc of this repo.

Note

1. Currently(Genesis 0.3.6), compiling with DepthCamera sensors and heightfield terrain added will invoke CUDA out of memory error (50 envs, on RTX3080 10GB). Users should use GPU with larger graphics memory.
2. Try to replace mesh in robot descrption files(urdf, xml and usd) with basic geometries when using Genesis. It will slow down the simulation and potentially cause NaN values in robot states(base_ang_vel, dof_pos, dof_vel)

🖼️ Gallery

Robot	Sim	Real
Unitree Go2	video	video
Limx TRON1_PF (flat)		video
TRON1_PF (rough)		video
Limx TRON1_SF (flat)

🙏 Acknowledgements

• Genesis
• Genesis-backflip
• legged_gym
• rsl_rl
• unitree_rl_gym
• tron1-rl-isaacgym

TODO

• Add go2 deploy demos and instructions (2025/07/25)
• Add explicit estimator support (2025/09/29)
• Add teacher-student implementation (2025/08/02)
• Add Constraints as Terminations implementation (2025/10/23)
• Add support for TRON1_PF (flat and rough)
• Add DreamWaQ implementation (2025/11/27)
• Add support for TRON1_SF (flat and rough)
• Add support for TRON1_WF (flat and rough)
• Add support for warp-based depth camera