Implementing a ChatGPT-like LLM in PyTorch from scratch, step by step

Basic linear algebra subroutines for embedded optimization

Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars

Train your parkour robot in less than 20 hours.

A clean and robust Pytorch implementation of PPO on continuous action space.

Bringing Characters to Life with Computer Brains in Unity

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

Tensors and Dynamic neural networks in Python with strong GPU acceleration

Code for Rapid Locomotion via Reinforcement Learning

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.

Tutorial for compiling MATLAB MEX functions using cmake

The public CGAL repository, see the README below

pytorch implementation for "PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation" https://arxiv.org/abs/1612.00593

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

Qhull development for www.qhull.org -- Qhull 2020.2 (8.1-alpha1) at https://github.com/qhull/qhull/wiki

an intuitive optimization tool tailored to robotics, based on CasADi

The Kalibr visual-inertial calibration toolbox

Common used path planning algorithms with animations.

Code for ICCV 2021 paper "HuMoR: 3D Human Motion Model for Robust Pose Estimation"

An open source implementation of MIT Cheetah 3 controllers

Isaac Gym Environments for Legged Robots

An efficient implementation of the Double Description Method

A ROS package tool to analyze the IMU performance.

Official Pytorch implementation of the paper "Action-Conditioned 3D Human Motion Synthesis with Transformer VAE", ICCV 2021

Phase-Functioned Neural Networks for Character Control