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Reinforcement learning of wheel-legged robots based on Genesis
| Date | Stars |
|---|---|
| 2026-07-31 | 365 |
| 2026-08-01 | 365 |
| 2026-08-02 | 365 |
| 2026-08-06 | 365 |
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# wheel_legged_genesis Reinforcement learning of wheel-legged robots based on Genesis  sim2sim in mujoco  ## System Requirements Ubuntu 20.04/22.04/24.04 python >= 3.10 ## Hardware requirements NVIDIA/AMD GPU or CPU ## must（必须） **It is not possible to install the 0.2.1 version of genesis with pip, with the local installation of the main branch because there is an API update** **不能使用pip安装genesis的0.2.1版本，使用main分支的本地安装，因为有API更新** ## Test & Development Platform 1. i5 12400f + Geforce RTX4070 2. i7 12700kf + Radeon Rx7900xt ## Before running ### 1. Clone repo run: ***It is recommended to use the latest release version here, the main branch of clone is not necessarily stable*** ***这里建议使用最新的release版，clone的main分支不一定稳定*** ``` git clone https://github.com/Albusgive/wheel_legged_genesis.git cd wheel_legged_genesis ``` ### 2. install deps #### use pdm install Install pdm, <https://pdm-project.org/en/latest/#installation>, then run ``` pdm install ``` #### or manual install Install Genesis: <https://github.com/Genesis-Embodied-AI/Genesis> install tensorboard: `pip install tensorboard` `pip install pygame` `pip install opencv-python` install rsl-rl: `cd rsl_rl && pip install -e .` ## Use ### use pdm test: `pdm run locomotion/wheel_legged_eval.py` train: `pdm run locomotion/wheel_legged_train.py` ### or manual test: `python locomotion/wheel_legged_eval.py` train: `python locomotion/wheel_legged_train.py` ### gamepad & keyboard **gamepad** |key|function| |---|--------| |LY|lin_vel| |RX|ang_vel| |LT|leg_length_up| |RT|leg_length_down| |LB|left_leg_length_ctrl_flag| |RB|right_leg_length_ctrl_flag| |X|Reset| |XX|太空步| |YY|铁山靠| |B|铁山靠回正| **keyboard** |key|function| |---|--------| |W|前进 (Forward)| |S|后退 (Backward)| |A|左移 (Move Left)| |D|右移 (Move Right)| |Q|左转 (TURN Left)| |E|右转 (TURN Right)| |Space|站立 (up)| |C/Left_Ctrl|下蹲 (down)| |1|left_leg_length_ctrl_flag(仅左腿)| |2|right_leg_length_ctrl_flag(仅右腿)| |Shift|静步(Quiet Walking)| |R|重置环境(Reset)| |UP&DOWN|太空步| |LEFT&RIGHT|铁山靠| |BACKSPACE|铁山靠回正| ## Terrain You can use the terrain as agent_eval_gym/agent_train_gym/agent_eval_gym/circular |terrain|description| |-------|-----------| |agent_train_gym|Rough roads and continuous slopes| |agent_eval_gym|The agent_train_gym of the lite version| |circular|Circular continuous slopes| **About custom terrains** Please refer to the code in `assets/terrain` ## Suggestion When using NVIDIA GPUs, it is recommended that the genesis backend choose gpu or cuda When using AMD GPUs, it is recommended to select vulkan for the genesis backend ## Demo of the effect [【开源】genesis双轮足机器人强化学习（基础版）](https://www.bilibili.com/video/BV14eKKeiEJB/?share_source=copy_web) [【开源】genesis轮足框架更新，增强地形适应能力](https://www.bilibili.com/video/BV16MAHeZEDK/?share_source=copy_web) [【开源】genesis强化学习仿真迁移测试](https://www.bilibili.com/video/BV1LUPgeREcb/?share_source=copy_web) [【开源】强化学习双轮足完美战胜mujoco](https://www.bilibili.com/video/BV1m79hYgEbA/?share_source=copy_web) ## Changelog |version|description| |-------|-----------| |v0.0.1|Basic functions and efficient training| |v0.0.2|add domain rand and curriculum| |v0.0.3|Faster and more stable training than v0.0.2| |v0.0.5|Terrain training, custom terrain,add keyboard and better curriculum| |v0.0.7|sim2sim is a perfect victory over mujoco| ## TODO: - [x] Rough roads:uphill and downhill slopes - [x] Curriculum - [x] Custom terrain - [ ] Interference from external forces - [x] Sim2Sim：mujoco - [x] left_hip and right_hip - [x] swing legs & tie shan kao - [ ] high speed control ## 技术交流： 微信超200人了,加QQ群吧 
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matched fp:6863224ab0c0214d, llm:Repository description: "Reinforcement learning of wheel-legged robots based on Genesis"; Python project focused on wheel-legged robots and reinforcement learning.
matched fp:6863224ab0c0214d, llm:Repository description: "Reinforcement learning of wheel-legged robots based on Genesis"; Python project focused on wheel-legged robots and reinforcement learning.