MultiModalWBC is a fully open-source, IsaacLab-based framework for multi-modal whole-body control, designed for motion imitation, motion tracking, and task-conditioned control in legged robots. The framework unifies robot proprioceptive states and multi-modal human motion conditions into a consistent interface
实机部署so101流程和踩坑全记录，使用lerobot框架以及isaaclab（issac sim）在虚拟环境跑通so101。在本地 ubuntu22+5070显卡 搭建环境，部署，录数据，训练smolvla，推理全流程。
NavRL Bench trains reinforcement learning policies from scratch using IsaacLab / Isaac Sim and compares the trained RL local controller against classical Nav2 controllers such as DWB, MPPI, and Regulated Pure Pursuit.
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