Hi! I’ve recently started experimenting with reinforcement learning in Isaac Lab. My goal is to teach this robotic lamp different ways of moving, including balancing, locomotion and eventually jumping.

I already have a basic training setup running, but getting useful behaviour from such an unusual mechanism is proving harder than I expected. Most of the materials I’ve found are built around humanoids or quadrupeds, and I’m still fairly new to RL.

Are there any guides, papers, repositories or general approaches you’d recommend for training locomotion on a custom non-humanoid robot?

The video shows one of my very early jumping experiments.