🦿 LeggedGym-Ex

A legged_gym based framework for training legged robots in Genesis, IsaacGym and IsaacSim.

🌟 Features

• Totally based on legged_gym

  This framework keeps most apis and conventions consistent with legged_gym, providing good readability and better control over training pipeline.

• Integration of multiple simulators

  We support training in either of three simulators: IsaacGym, Genesis and IsaacSim.

  Quick tips for choosing among three simulators:

  • Faster training but worse rendering -> IsaacGym
  • Both training speed and support for fluid, soft materials -> Genesis
  • More realistic rendering at the cost of training speed -> IsaacSim.

• Accelerated depth image rendering based on warp

  We integrate warp into this framework to accelerate the depth image rendering on Nvidia GPU.

• Incorporation of various methods in published RL papers

  Method	Paper Link	Code
  Periodic Gait Reward	Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition	go2_wtw
  Walk These Ways	Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior	go2_wtw
  System Identification	Learning Agile Bipedal Motions on a Quadrupedal Robot	go2_sysid
  Teacher-Student	Rapid Locomotion via Reinforcement Learning	go2_ts
  Explicit Estimator	Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion	go2_ee
  Constraints as Terminations	CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning	go2_cat
  DreamWaQ	DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning	go2_dreamwaq
  SPO (Simple Policy Optimization)	Simple Policy Optimization	legged_robot_config.py
  CTS (Concurrent Teacher Student)	CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion	go2_cts
  DeepMimic	DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills	g1_deepmimic
  AMP (Adversarial Motion Priors)	AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control	k1_amp

🛠 Installation and Usage

Please refer to the doc of this repo.

🖼️ Gallery

Robot	Sim	Real
Unitree Go2		video
TRON1_PF		video
TRON1_SF
Unitree G1 DeepMimic
Booster K1		video
Go2 Parkour with Depth Image		video

🙏 Acknowledgements

• Genesis
• Genesis-backflip
• legged_gym
• rsl_rl
• unitree_rl_gym
• tron1-rl-isaacgym
• isaaclab
• aerial_gym_simulator
• warp

TODO

• Add support for IsaacSim simulator (2026/02/15)
• Add support for DeepMimic Implementation (2026/02/28)
• Add support for Booster K1 Robot (2026/03/18)
• Add support for AMP Implementation (2026/03/28)
• Add support for warp-based depth camera (2026/04/26)
• Add Dockerfiles and viser visualization support for training in cloud server (2026/06/15)
• Add support for warp-based height query
• Add support for latest rsl-rl-lib

Contacts

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