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Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
| Date | Stars |
|---|---|
| 2026-07-24 | 933 |
| 2026-07-25 | 933 |
| 2026-07-28 | 933 |
| 2026-07-30 | 933 |
| 2026-08-06 | 933 |
Today
— stars today
This week
— stars this week
This month
— stars this month
Momentum
0.0
growth rate 0.00%/day
Note: development for this project was haulted in November 2020 to respect my NDA with my employer.
## Spot Mini Mini OpenAI Gym Environment
[](https://github.com/moribots/spot_mini_mini/releases)
[](https://spot-mini-mini.readthedocs.io/en/latest/?badge=latest)
[](https://github.com/moribots/spot_mini_mini/graphs/commit-activity)
[](https://github.com/moribots/spot_mini_mini/pulls)
[](https://github.com/moribots)
[](https://github.com/moribots/spot_mini_mini/blob/spot/LICENSE)
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<img src="spot_real/media/spot_hello.gif" width="670" />
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**Featured in [Robotics Weekly](https://weeklyrobotics.com/weekly-robotics-98) and [Mithi's Robotics Coursework](https://github.com/mithi/robotics-coursework/#hands-on-and-blogs)!**
## Motivation
As part of the [Spot Micro](https://spotmicroai.readthedocs.io/en/latest/) community, I saw the need for a reliable and versatile simulator for those who wanted to try things out without risking damage to their robots. To that end, I developed my own in Pybullet which can also be used as a Gym environment for Reinforcement Learning tasks.
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<img src="spot_bullet/media/spot_new_demo.gif" width="335" />
<img src="spot_real/media/full_control.gif" width="335" />
</p>
You'll notice that there are gifs of the original `SpotMicro` as well a new version designed for added real world fidelity. The default branch simulates the new version, but you can work with `SpotMicro` in the [spotmicroai](https://github.com/moribots/spot_mini_mini/tree/spotmicroai) branch of this repo. The new version also has a more reliable URDF, with more accurate inertial calculations.
If you don't need a Gym environment, that's okay too! `env_tester.py` works without RL or Gym, it is designed to accept any gait implementation, and provides a GUI for testing it out! In my case, I've implemented a 12-point Bezier gait.
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**Read the [docs](https://spot-mini-mini.readthedocs.io/en/latest/index.html)!**
Table of Contents
-----------------
* [Motivation](#motivation)
* [Kinematics](#kinematics)
* [D^2 Gait Modulation with Bezier Curves](#d2-gait-modulation-with-bezier-curves)
* [Training](#Training)
* [Real World Validation](#real-world-validation)
* [Gait](#gait)
* [How To Run](#how-to-run)
* [Dependencies](#dependencies)
* [Joystick Control with ROS](#joystick-control-with-ros)
* [Testing Environment (Non-Joystick)](#testing-environment-non-joystick)
* [Reinforcement Learning Agent Training](#reinforcement-learning-agent-training)
* [Reinforcement Learning Agent Evaluation](#reinforcement-learning-agent-evaluation)
* [Using Different Terrain](#using-different-terrain)
* [Hardware](https://github.com/moribots/spot_mini_mini/tree/spot/spot_real)
* [Assembly & Calibration](https://github.com/moribots/spot_mini_mini/tree/spot/spot_real/Calibration.md)
* [Citing Spot Mini Mini](#citing-spot-mini-mini)
* [Credits](#credits)
### Kinematics
Body manipulation with [leg IK](https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_RobotExcerpt of 12,090 characters
Read on GitHub
672
Juan Miguel Jimeno · Singapore
10
Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:97434e5a1a8a16d0, topic:reinforcement-learning, topic:openai-gym, readme:reinforcement learning
matched fp:97434e5a1a8a16d0, topic:ros, readme:robotics, readme:manipulation