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Spot Micro · Leika
A quadruped on an ESP32-CAM, with a learned policy correcting the hand-written gait.
- Years
- 2023–2026
- Status
- Active
- Field
- hardware
- GitHub
- ★ 79 · 21 forks
About
My take on the quadruped Spot Micro. An ESP32-CAM running FreeRTOS does inverse kinematics and gait generation on the device, and a SvelteKit app drives it over WebSocket with live telemetry and camera streaming. On top of that sits a residual walking policy trained in MuJoCo with Gymnasium and PPO: the firmware gait is ported to NumPy as the baseline, and the policy learns only small per-foot corrections. A zero action reproduces the hand-written gait exactly, so training starts from something that already walks and spends its capacity on staying upright.
Built with
- Reinforcement learning
- MuJoCo
- C++
- ESP32-CAM
- FreeRTOS
- SvelteKit