Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots
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Updated
Jul 15, 2026 - Python
Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots
Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.
IsaacLab to Mujoco GO2 deploy, IsaacLab to Real world GO2 deploy
Deploying a quadruped robot policy(DreamWaQ, walk-these-ways, HIMLoco) trained in Isaacgym to ROS2 Gazebo for Sim-to-Sim
Automatic Domain Randomization (ADR) proposed in "Solving Rubik's Cube with a Robot Hand"
Deep Reinforcement Learning and Imitation Learning with sim2sim exploration and behavior cloning
DDC (Deployable Dynamic-CoM): a unified policy and method-agnostic sim2sim benchmark for humanoid single-leg stance; deploys on a real Unitree G1. arXiv:2608.00500
Velocity tracking and sim-to-sim transfer for Unitree H1 humanoid locomotion using reinforcement learning.
Lightweight repo for getting started with learning to control the Unitree G1 humanoid robot with sim2sim (mujoco & isaac lab) and sim2real policy validation.
Policy-driven robotics simulation experiments with measurable task execution, physics validation, and simulator-to-simulator testing.
Unitree Go2 Tier-1 RoboPay profile — 9 priced embodied skills (wave, sit, stand, stop, bow, nod, turn_to_face, hold, navigate_obstacle) on MuJoCo + PyBullet sim-to-sim (measured ≤0.02 cm) + Webots R2025a harness, x402 payment gate, durable replay, and live Base Sepolia EIP-3009 settlement proof.
DM-Dog-RL is a reinforcement-learning locomotion project for a Damiao-motor quadruped robot. It contains both the training stack and the real-robot ROS deployment workspace.
GEAR-SONIC adaptation for the 23-DoF Galaxea Kengo; restricted robot assets are pinned through a private submodule.
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