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Official implementation of "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

Python 607 48 Updated Feb 16, 2025

AMP implementation with minimal changes on legged_gym and rsl_rl

Python 29 4 Updated Jul 21, 2024

Robot kinematics implemented in pytorch

Python 520 44 Updated Feb 11, 2025

Train transformer language models with reinforcement learning.

Python 11,726 1,576 Updated Feb 17, 2025

Cosmos is a world model development platform that consists of world foundation models, tokenizers and video processing pipeline to accelerate the development of Physical AI at Robotics & AV labs. C…

Python 7,496 474 Updated Feb 12, 2025

Collection of high-quality robo learning papers for bipedal robots.

251 11 Updated Feb 5, 2025

Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets

Python 51 2 Updated Oct 30, 2024

Natural Locomotion, Jumping and Recovery of Quadruped Robot A1 with AMP

Python 107 7 Updated May 12, 2023

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

Python 9,079 966 Updated Feb 17, 2025
Python 306 34 Updated Dec 19, 2024

[CoRL 2024] Open-TeleVision: Teleoperation with Immersive Active Visual Feedback

Python 771 76 Updated Sep 27, 2024

Code of the paper "LS-IQ: Implicit Reward Regularization for Inverse Reinforcement Learning" & LocoMuJoCo Baselines

Python 45 4 Updated Feb 2, 2024

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

Python 621 53 Updated Sep 13, 2024
Python 837 134 Updated Jul 21, 2024

The CMU mocap dataset in bvh format

141 45 Updated Feb 29, 2024

bvh_broadcaster: broadcasting bvh motion capture as tf in ROS

Python 10 2 Updated Nov 26, 2018
Rich Text Format 2 1 Updated Oct 20, 2022

Official implementation for SIGGRAPH 2023 paper "Learning Physically Simulated Tennis Skills from Broadcast Videos"

Python 250 28 Updated Aug 14, 2024

[RSS 2024] 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations

Python 684 69 Updated Jan 21, 2025

simulation to PAI biped robot

Python 7 3 Updated Nov 12, 2023

A ROS wrapper for implementing convex decomposition

C++ 183 55 Updated Sep 10, 2018

Lie theory for robotics

C++ 187 23 Updated Oct 18, 2024

使用casadi的C++接口写的shooting/collocation轨迹优化示例代码

C++ 54 12 Updated Nov 18, 2021

Memmo Winter-school material for the Pinocchio class

Jupyter Notebook 15 5 Updated Jan 28, 2019

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

Python 1,002 161 Updated Jan 26, 2025

Motion retargeting packages for teleoperating REEM.

C++ 14 7 Updated Dec 2, 2014

Spot SDK repo

Python 2,351 562 Updated Dec 18, 2024

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

C++ 429 130 Updated Jan 13, 2025

Python implementation for ZMP preview control

Python 83 14 Updated Apr 4, 2023

Humanoid walking controller with various baseline methods

C++ 135 22 Updated Feb 4, 2025
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