residual-rl

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Robust manipulator trajectory tracking with Computed Torque Control and bounded Residual PPO under inertial model mismatch in MuJoCo.

Hexapod hardware, MuJoCo/MJX tripod control, and Cartesian residual reinforcement learning

control reinforcement-learning robotics hexapod locomotion mujoco brax mjx residual-rl

Residual reinforcement learning for contact-rich bookshelf insertion in Isaac Lab

Franka 7-DOF compliant-control lab: impedance, adaptive hybrid control, torque-safe Residual RL, C++ parity, and blinded MuJoCo evaluation.

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