fan-ziqi/rl_sar

Health v2 · maintenance only

Adoption not part of the score

1436 stars · 188 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A C++ framework for simulation verification and physical deployment of reinforcement learning policies for robots, supporting quadruped, wheeled, and humanoid robots. It bridges sim-to-real workflows with support for IsaacGym/IsaacSim training, Gazebo/MuJoCo simulation, and ROS/ROS2 integration.

Use cases

• deploy a trained RL locomotion policy on a Unitree quadruped robot
• verify a reinforcement learning policy in Gazebo or MuJoCo simulation before real deployment
• simulate and deploy humanoid robot whole-body tracking policies
• run sim-to-real workflows for wheeled-legged robots
• test IsaacGym or IsaacSim trained policies on real hardware via ROS or ROS2
• run RL policies with libtorch or onnxruntime inference

When to choose

• you need to deploy RL locomotion or dance policies on supported quadruped, wheeled, or humanoid robots
• you want a unified sim-to-real pipeline with Gazebo, MuJoCo, IsaacGym, and IsaacSim support
• you work in the ROS/ROS2 ecosystem with C++ and need on-robot policy inference
• you want pre-trained policies for popular robots like Unitree A1, Go2, B2, and G1

When to avoid

• you only need Python-based training without deployment - use legged_gym or IsaacLab directly
• your robot is not in the supported list and you cannot adapt the hardware interface
• you need Windows support - only Linux and macOS (MuJoCo only) are supported
• you need a general-purpose robot simulator rather than an RL deployment framework

Facets

framework · maturity active

simulation robotics machine-learning reinforcement-learning deployment robotics reinforcement-learning simulation machine-learning cpp python quadruped-robots humanoid-robots wheeled-robots gazebo mujoco isaacgym isaac-sim ros ros2 sim-to-real locomotion libtorch onnxruntime linux macos

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markdown · JSON · MCP: product_card(name="fan-ziqi/rl_sar")