I'm happy to announce that my co-authors (Ian Abraham, Matthew L. Elwin, Todd D. Murphey) and I have just completed our paper: Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion. All of our methods and findings were conducted on OpenQuadruped using this environment, which I will be continually supporting and keeping open-source. For this reason, I've transferred this repo's ownership to my co-run organization OpenQuadruped with Adham so that we may consolidate our efforts more effectively!

To learn more, and to replicate our method yourselves, visit our website!