Overview

morphosymm-rl is a reinforcement learning library for IsaacLab that extends the Proximal Policy Optimization (PPO) implementation of RSL-RL with Morphological Symmetries.

Features:

• data-augmentation
• explicit equivariant neural networks via symmetric_learning

Installation

Install this package with:

pip install -e .

How to use

See here.

Citing this work

If you find the work useful, please consider citing one of our works:

Leveraging Symmetry in RL-based Legged Locomotion Control (IROS-2024)

@inproceedings{suhuang2024leveraging,
  author={Su, Zhi and Huang, Xiaoyu and Ordoñez-Apraez, Daniel and Li, Yunfei and Li, Zhongyu and Liao, Qiayuan and Turrisi, Giulio and Pontil, Massimiliano and Semini, Claudio and Wu, Yi and Sreenath, Koushil},
  booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Leveraging Symmetry in RL-based Legged Locomotion Control}, 
  year={2024},
  pages={6899-6906},
  doi={10.1109/IROS58592.2024.10802439}
}

Morphological symmetries in robotics (IJRR-2025):

@article{ordonez2025morphosymm,
  author = {Daniel Ordoñez-Apraez and Giulio Turrisi and Vladimir Kostic and Mario Martin and Antonio Agudo and Francesc Moreno-Noguer and Massimiliano Pontil and Claudio Semini and Carlos Mastalli},
  title ={Morphological symmetries in robotics},
  journal = {The International Journal of Robotics Research},
  year = {2025},
  volume = {44},
  number = {10-11},
  pages = {1743-1766},
  doi = {10.1177/02783649241282422}
}

Maintainer

This repository is maintained by Giulio Turrisi and Daniel Ordonez.