LeggedGym Architecture

A modular framework for legged robot learning

LeggedGym Core

Main framework for legged robot training

Simulation

Physics engine integration

Isaac Gym
PyBullet

Learning

RL algorithms & policies

PPO
SAC
AMP

Robot Interface

Hardware abstraction

ANYmal
Unitree

Applications

Locomotion Manipulation Navigation Recovery

Key Features

  • GPU-accelerated simulation
  • Modular architecture
  • Multi-robot support
  • Curriculum learning

Data Flow

Observations → Policy

Actions → Simulation

Reward calculation

Extensions

Custom environments

New robot models

Alternative algorithms

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