Deterministic C++17/Gymnasium robot-navigation simulator with PPO, native batching, MuJoCo sim-to-sim transfer, domain randomization, and Unreal integration.
Evidence-led Unitree G1 standing and locomotion research with mjlab, MuJoCo, and PPO
Migrating a ROS 2 diff-drive rover from Gazebo to Isaac Sim, with a measurement harness that quantifies where the two physics engines diverge (determinism, RTF, drive-gain coupling, inertia approximations) instead of asserting they match.
MuJoCo simulation runtime and RL policy runner for H2 humanoid robot
Lite3 四足机器人强化学习训练与 MuJoCo Sim-to-Sim 部署
Fine-tuning OpenVLA on 53,294 Isaac Sim observations — contact improves, target selection degrades
RL for dexterous in-hand manipulation — 5 robot hands incl. passive/mimic joints · Isaac Lab · PPO · 100% success rate
Migrating a ROS 2 diff-drive rover from Gazebo Harmonic to Isaac Sim 6.0.1: baseline A/B measurement, USD importer transfer checks, and five deliberately-caused divergence signatures.
Isaac Lab → MuJoCo transfer pipeline with ROS2 integration · 4 modes: MuJoCo · ROS2+RViz2 · ROS2+MuJoCo · ROS2+MuJoCo+RViz2
Humanoid training in Isaac Lab, MuJoCo evaluation, and checkpoint-gated navigation experiments with published controls and limitations.
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