The official codebase of paper "Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies".

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …

Making a mini version of the BDX droid

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).

This repository is an open-sourced code for the IROS 2024 paper.

whole body control QP solver with full friction cones

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

phase-based Observations, Rewards, Coupling Ablation

Repo for hexapod expert policy multiplexer journal paper.

A bazel build of ocs2 (https://github.com/leggedrobotics/ocs2)

Optimizing Dynamic Programming-Based Algorithms

Parameter controller for RS

Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles

A nonlinear MPC framework for agile and versatile quadruped locomotion

C library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.

MuJoCo interface for mc-rtc

Control and estimation on Lie groups

Rviz plugins to display whole-body states and trajectories

A Contact-Implicit Trajectory Optimization Package

darknet ROS2 Humble OpenCV4 CUDA 11（cuDNN, Jetson Orin）

run universal robot in Ignition Gazebo simulator

This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Vir…

Identification of dynamic parameters of robotic systems

Efficient optimal control solvers for robotic systems.