upkie 8.0.0
Open-source wheeled biped robots
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Gym environments

Upkie has environments compatible with the Gymnasium API:

  • UpkieGroundVelocity: behave like a wheeled inverted pendulum.
  • UpkieServos: control joint servos directly with torque feedforward and position-velocity feedback.

While each environment has its own observation and action spaces, all of them also report full spine observations in their info dictionaries.