Emergent Locomotion in HSA Robot

Contents:

  • HSA Environment Modules
  • MuJoCo Base RL Class
  • HSA Gym Environment and Utilities
  • Training Script
  • Evaluation Script
  • Terrain Generation Utilities
  • MuJoCo Control Interface
Emergent Locomotion in HSA Robot
  • Overview: module code

All modules for which code is available

  • hsa_gym.envs.curriculum_manager
  • hsa_gym.envs.hsa_constrained
  • hsa_gym.envs.mujoco_env_constrained
  • hsa_gym.utils.terrain_generators
  • rl_scripts.action_eval
  • rl_scripts.ppo_train_position

© Copyright 2025, Pushkar Dave.

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