Robotics Papers — 2022

3 papers with open-source code, published in 2022.

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RSS 2022 Workshop / arXiv 2109.11978 Jun 2022

Legged Gym: A Framework for Massively Parallel Reinforcement Learning of Legged Locomotion

Nikita Rudin, David Hoeller, Philipp Reist et al.

Legged Gym is an open-source training framework built on NVIDIA Isaac Gym that enables massively parallel deep RL for legged robot locomotion, achieving policy training times of minutes rather than days.

locomotion rl simulation quadruped

Code PDF Intermediate

GitHub ★ 2,971 Updated May 2026

Open Source Library Jun 2022

RSL-RL: A Fast and Flexible Reinforcement Learning Library for Legged Robots

Nikita Rudin, David Hoeller, Marco Hutter

RSL-RL is a lightweight, high-performance PyTorch library implementing PPO tailored for locomotion. Used as the default RL backend in Legged Gym, it enables training thousands of agents in parallel on GPU.

locomotion rl simulation quadruped

Code Intermediate

GitHub ★ 2,624 Updated May 2026

IEEE T-RO 2022

FAST-LIO2: Fast Direct LiDAR-Inertial Odometry

Wei Xu, Yixi Cai, Dongjiao He et al.

A tightly-coupled LiDAR-inertial odometry system with incremental kd-tree mapping, enabling real-time state estimation for UAVs and mobile robots.

uav vla foundation-models

Code PDF Intermediate

GitHub ★ 4,707 Updated May 2026