Skip to content

Navigation Menu

Appearance settings

View all features
- BY COMPANY SIZE
  Enterprises
  Small and medium teams
  Startups
  Nonprofits
- BY USE CASE
  App Modernization
  DevSecOps
  DevOps
  CI/CD
  View all use cases
- BY INDUSTRY
  Healthcare
  Financial services
  Manufacturing
  Government
  View all industries
View all solutions
- EXPLORE BY TOPIC
  AI
  Software Development
  DevOps
  Security
  View all topics
- EXPLORE BY TYPE
  Customer stories
  Events & webinars
  Ebooks & reports
  Business insights
  GitHub Skills
- SUPPORT & SERVICES
  Documentation
  Customer support
  Community forum
  Trust center
  Partners
View all resources
- COMMUNITY
  GitHub SponsorsFund open source developers
- PROGRAMS
  Security Lab
  Maintainer Community
  Accelerator
  GitHub Stars
  Archive Program
- REPOSITORIES
  Topics
  Trending
  Collections
- ENTERPRISE SOLUTIONS
  Enterprise platformAI-powered developer platform
- AVAILABLE ADD-ONS
  GitHub Advanced SecurityEnterprise-grade security features
  Copilot for BusinessEnterprise-grade AI features
  Premium SupportEnterprise-grade 24/7 support
Pricing

Search code, repositories, users, issues, pull requests...

Search

Clear

Search syntax tips

Provide feedback

We read every piece of feedback, and take your input very seriously.

Include my email address so I can be contacted

Saved searches

Use saved searches to filter your results more quickly

Name

Query

To see all available qualifiers, see our documentation.

Appearance settings

You signed in with another tab or window. Reload to refresh your session. You signed out in another tab or window. Reload to refresh your session. You switched accounts on another tab or window. Reload to refresh your session.

Dismiss alert

mujocolab / mjlab Public

Notifications You must be signed in to change notification settings
Fork 278
Star 2k

Code
Issues 12
Pull requests 7
Discussions
Actions
Projects
Security
Insights

Additional navigation options

Code
Issues
Pull requests
Discussions
Actions
Projects
Security
Insights

Velocity task improvements#833

Open

kevinzakka wants to merge 10 commits intomainmujocolab/mjlab:mainfrom

velocity-mdp-tweaksmujocolab/mjlab:velocity-mdp-tweaksCopy head branch name to clipboard

Conversation Commits10 (10)Checks Files changed

Open

Velocity task improvements#833
kevinzakka wants to merge 10 commits intomainfrom
velocity-mdp-tweaks

Commits

Commits on Mar 20, 2026

Use biased joint positions in velocity actor observations
kevinzakka
committed
Reset peak_heights on env reset in feet_swing_height
kevinzakka
committed
Enable joint velocity and acceleration penalties for Go1
kevinzakka
committed
Enable angular velocity and momentum penalties for Go1
kevinzakka
committed
Add thigh collision penalty for Go1
kevinzakka
committed
Tweak njmax/nconmax
kevinzakka
committed

Commits on Mar 21, 2026

Fix TerrainHeightSensor reporting max_distance during ground contact
kevinzakka
committed
Add G1 flat run config with velocity curriculum
kevinzakka
committed
Bump njmax for go1 rough.
kevinzakka
committed
Widen base angular velocity range and update G1 run curriculum
kevinzakka
committed

Footer

© 2026 GitHub, Inc.

Footer navigation

Terms
Privacy
Security
Status
Community
Docs
Contact

You can’t perform that action at this time.