liuyisen-bin/transformer-sru-lys
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Very new: it was created 7 days ago. Wait a little before installing it.
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Last change 6 days ago.
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What it is
Hierarchical reinforcement learning navigation for the Unitree G1 29DOF robot. A LiDAR CNN, spatial Transformer and SRU policy outputs velocity commands at 5 Hz for a frozen low-level controller at 50 Hz. Includes Isaac Lab training, MuJoCo sim2sim validation and ROS 2…
Who it's for
Robotics researchers and developers training and deploying LiDAR-based navigation policies on Unitree G1 humanoids
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