LeggedGym-Ex
- Software
- Humanoids and robot learning
- Framework
A training framework for legged robots built on legged_gym, running on Genesis, IsaacGym or IsaacSim. It bundles many published locomotion methods and supports a range of robots.
Source on GitHub: github.com/lupinjia/LeggedGym-Ex (opens in a new tab). Facts read at commit 09283fe (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 09283fe (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Keeps most APIs and conventions of legged_gym, so existing workflows carry over.
- Lets you train in IsaacGym for speed, Genesis for speed with fluid and soft materials, or IsaacSim for realistic rendering.
- Accelerates depth image rendering on Nvidia GPUs using warp.
- Includes implementations of methods such as Walk These Ways, teacher-student training, DreamWaQ, CaT, AMP and DeepMimic.
- Provides example environments for robots including Unitree Go2, G1, TRON1 and Booster K1.
- Offers Dockerfiles and viser visualization for training on cloud servers.
Written by Robotheca from the project's README (opens in a new tab) at commit 09283fe.
Getting started
- Difficulty
- Advanced
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 24 Aug 2026 on main
- Latest release
- V0.4.0 (30 Mar 2026)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.