# Locosim: an Open-Source Cross-Platform Robotics Framework

arXiv: https://arxiv.org/abs/2305.02107 · HTML: https://mlsanity.com/paper/2305.02107/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 May 2023.

## Built on by (most cited first, 2 of 2)

- [Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots](https://mlsanity.com/paper/2507.16481/) (2025)
- [Efficient Reinforcement Learning for Jumping Monopods](https://mlsanity.com/paper/2309.07038/) (2023)

## Abstract (arXiv)

The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed us to sort out crucial requirements for a framework tailored for robotics: modularity and extensibility, source code reusability, feature richness, and user-friendliness. We implemented these requirements and collected best practices in Locosim, a cross-platform framework for simulation and real hardware. In this paper, we describe the architecture of Locosim and illustrate some use cases that show its potential.