├── assets
    └── teaser.png
├── .gitignore
├── LICENSE
└── README.md


/assets/teaser.png:
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https://raw.githubusercontent.com/hrh6666/MoE-Loco/HEAD/assets/teaser.png


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/.gitignore:
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 1 | # These are some examples of commonly ignored file patterns.
 2 | # You should customize this list as applicable to your project.
 3 | # Learn more about .gitignore:
 4 | #     https://www.atlassian.com/git/tutorials/saving-changes/gitignore
 5 | 
 6 | # Node artifact files
 7 | node_modules/
 8 | dist/
 9 | 
10 | # Compiled Java class files
11 | *.class
12 | 
13 | # Compiled Python bytecode
14 | *.py[cod]
15 | 
16 | # Log files
17 | *.log
18 | 
19 | # Package files
20 | *.jar
21 | 
22 | # Maven
23 | target/
24 | dist/
25 | 
26 | # JetBrains IDE
27 | .idea/
28 | 
29 | # Unit test reports
30 | TEST*.xml
31 | 
32 | # Generated by MacOS
33 | .DS_Store
34 | 
35 | # Generated by Windows
36 | Thumbs.db
37 | 
38 | # Applications
39 | *.app
40 | *.exe
41 | *.war
42 | 
43 | # Large media files
44 | *.mp4
45 | *.tiff
46 | *.avi
47 | *.flv
48 | *.mov
49 | *.wmv
50 | 
51 | # VS Code
52 | .vscode
53 | # logs
54 | logs
55 | runs
56 | 
57 | # other
58 | *.egg-info
59 | __pycache__
60 | *.npy


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/LICENSE:
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 1 | MIT License
 2 | 
 3 | Copyright (c) 2025 Runhan Huang
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


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/README.md:
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 1 | <!-- <a href=https://arxiv.org/abs/2503.08564><img src='https://img.shields.io/badge/arXiv-2402.00752-b31b1b.svg'></a> <a href='https://immortalco.github.io/Instruct-4D-to-4D/'><img src='https://img.shields.io/badge/Project-Page-Green'></a>  -->
 2 | 
 3 | <div align="center">
 4 | 
 5 | # MoE-Loco: Mixture of Experts for Multitask Locomotion
 6 | 
 7 | [![Paper](https://img.shields.io/badge/arXiv-2503.08564-brightgreen)](https://arxiv.org/abs/2503.08564) [![Conference](https://img.shields.io/badge/IROS-2025-blue)](https://www.iros25.org/) [![Project WebPage](https://img.shields.io/badge/Project-webpage-%23fc4d5d)](https://moe-loco.github.io/) [![License](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 8 | 
 9 | </div>
10 | 
11 | ![Pipeline](./assets/teaser.png)
12 | > [MoE-Loco: Mixture of Experts for Multitask Locomotion](https://arxiv.org/abs/2503.08564) \
13 | > Runhan Huang*, Shaoting Zhu*, Yilun Du, Hang Zhao \
14 | > IROS 2025
15 | 
16 | ## Acknowlegement
17 | https://github.com/leggedrobotics/legged_gym<br>
18 | https://github.com/ZiwenZhuang/parkour<br>
19 | https://github.com/zst1406217/robust_robot_walker
20 | 
21 | ## Citation
22 | 
23 | You can find our paper on [arXiv](https://arxiv.org/abs/2503.08564).
24 | 
25 | If you find this code or find the paper useful for your research, please consider citing:
26 | 
27 | ```
28 | @article{huang2025moe,
29 |   title={MoE-Loco: Mixture of Experts for Multitask Locomotion},
30 |   author={Huang, Runhan and Zhu, Shaoting and Du, Yilun and Zhao, Hang},
31 |   journal={arXiv preprint arXiv:2503.08564},
32 |   year={2025}
33 | }
34 | ```
35 | 
36 | ---
37 | 


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