CLARU
cagataydevcc-by-4.0-generated-with-nvidia-isaac

Agility Cassie biped rough-terrain locomotion (Isaac Lab, recorded with strands-robots)

A PPO policy trained in NVIDIA Isaac Lab walks the 12-DoF Cassie biped over procedurally generated rough terrain while tracking commanded base velocity. Rollouts were recorded as a LeRobot v3 dataset with 12 episodes and 6000 frames at 50 fps.

Downloads64

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
Cassie
Environment
simulation
Task Types
locomotion
Data Format
LeRobot
License
cc-by-4.0-generated-with-nvidia-isaac
Part of the Agility Cassie biped rough-terrain locomotion (Isaac Lab, recorded with strands-robots) family

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