📋 Task List

Here we list the tasks supported by genesis_lr.

• To start the training: python legged_gym/scripts/train.py --task=task_name.

• To visualize the trained model: python legged_gym/scripts/play.py --task=task_name

• More command line parameters can be seen in legged_gym/utils/helpers.py/get_args()

Robot	Task Name	Description	Paper
Unitree Go2	go2	A simple example to train a go2 policy walking on plane
	go2_wtw	Implementation of Walk These Ways on go2, supporting control of base height, base pitch angle, foot clearance, gait period and gait type	Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior
	go2_ts	Implementation of Teacher-Student on go2, for walking on tough terrains	Rapid Locomotion via Reinforcement Learning
	go2_ee	Implementation of Explciit Estimator on go2, for walking on tough terrains	Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion
	go2_dreamwaq	Implementation of DreamWaQ on go2, for walking on tough terrains	DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning
	go2_cat	Constraints as Terminations on go2, for walking on tough terrains	CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning
	go2_nav	End-to-end local navigation on go2	Advanced Skills by Learning Locomotion and Local Navigation End-to-End
	go2_cts	Implementation of Concurrent Teacher Student framework	CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion
	go2_ts_depth	Depth estimation variant for go2 (ts_depth)
Unitree G1	g1	A simple example to train a g1 policy walking on plane (only 12 dof, upper body fixed)
	g1_deepmimic	Implementation of DeepMimic on Unitree G1 (29 dof)	DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills
	g1_motion_vis	G1 motion visualization
Limx TRON1PF	tron1pf	A simple example to train a tron1pf policy walking on plane
	tron1pf_ee	Implementation of Explciit Estimator on tron1pf, for walking on tough terrains
Limx TRON1SF	tron1sf	A simple example to train a tron1sf policy walking on plane
Booster K1	k1	A simple example to train a k1 policy walking on plane
	k1_amp	AMP on Booster K1	AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control
	k1_cts_amp	CTS AMP on Booster K1
	k1_motion_vis	K1 Motion Visualization
	k1_deepmimic	DeepMimic on Booster K1 (29 dof)	DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills