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@ami-iit

Artificial and Mechanical Intelligence

README.md

Artificial and Mechanical Intelligence

Welcome to the GitHub organization of the Artificial and Mechanical Intelligence (AMI) lab at the Italian Institute of Technology.

Our mission is to combine Artificial Intelligence with Mechanics to provide mankind the next generation of Humanoid Robots that will help us face the looming societal challenges.

If you want to know more about us:

This GitHub organization contains different types of repositories:

  • Reusable software libraries that make algorithms developed in AMI, developed in C++, Python or MATLAB available to the research community and ready to be used.
  • Reproducible publication software for each paper published by AMI, to easily reproduce the results contained in the scientific papers written by AMI members. These repos can be identified by the paper_ prefix.
  • Organisational repositories, used to organize research and development activities. These repos can be identified by the axis_, component_, element_ or projection_ prefix in their name.
  • Research Outreach repositories, used to advertise and contain material related to workshops, courses or other activities by AMI members. These repos can be identified by the ws_ or course_ prefix in their name.

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  1. bipedal-locomotion-framework bipedal-locomotion-framework Public

    Suite of libraries for achieving bipedal locomotion on humanoid robots

    C++ 168 40

  2. lie-group-controllers lie-group-controllers Public

    Header-only C++ library containing controllers designed for Lie Groups.

    CMake 66 7

  3. matio-cpp matio-cpp Public

    A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.

    C++ 63 9

  4. adam adam Public

    adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

    Python 165 22

  5. ironcub-mk1-software ironcub-mk1-software Public

    In this repository we share software for dynamics simulations of the jet-powered humanoid iRonCub-Mk1.

    MATLAB 13 3

  6. robot-log-visualizer robot-log-visualizer Public

    Visualizer to display the data logged with YarpRobotLoggerDevice

    Python 26 5

Repositories

Showing 10 of 147 repositories
  • jaxsim Public

    A differentiable physics engine and multibody dynamics library for control and robot learning.

    ami-iit/jaxsim’s past year of commit activity
    Python 113 BSD-3-Clause 14 11 (1 issue needs help) 7 Updated Apr 2, 2025
  • yarp-device-openxrheadset Public
    ami-iit/yarp-device-openxrheadset’s past year of commit activity
    C++ 2 BSD-2-Clause 2 2 1 Updated Apr 2, 2025
  • GLFont Public Forked from jtberglund/GLFont

    Text-rendering library written in C++ for OpenGL 3.3, using FreeType 2.

    ami-iit/GLFont’s past year of commit activity
    C++ 1 MIT 12 0 0 Updated Apr 2, 2025
  • lie-group-controllers Public

    Header-only C++ library containing controllers designed for Lie Groups.

    ami-iit/lie-group-controllers’s past year of commit activity
    CMake 66 BSD-3-Clause 7 1 (1 issue needs help) 0 Updated Apr 2, 2025
  • biomechanical-analysis-framework Public

    Software framework to compute human whole-body kinematics and dynamics.

    ami-iit/biomechanical-analysis-framework’s past year of commit activity
    Python 4 BSD-3-Clause 2 0 5 Updated Apr 1, 2025
  • rod Public

    The ultimate Python tool for RObot Descriptions processing.

    ami-iit/rod’s past year of commit activity
    Python 13 BSD-3-Clause 3 4 (1 issue needs help) 0 Updated Apr 1, 2025
  • casadi-matlab-bindings Public

    Repo to build the CasADi MATLAB bindings as a standalone project, against an already compiled CasADi library.

    ami-iit/casadi-matlab-bindings’s past year of commit activity
    CMake 1 MIT 1 1 0 Updated Apr 1, 2025
  • amp-rsl-rl Public

    🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)

    ami-iit/amp-rsl-rl’s past year of commit activity
    Python 39 BSD-3-Clause 0 0 0 Updated Apr 1, 2025
  • sharedlibpp Public

    Tiny cross-platform plug-in system (dll, so, dylib)

    ami-iit/sharedlibpp’s past year of commit activity
    CMake 18 BSD-3-Clause 5 1 1 Updated Apr 1, 2025
  • bipedal-locomotion-framework Public

    Suite of libraries for achieving bipedal locomotion on humanoid robots

    ami-iit/bipedal-locomotion-framework’s past year of commit activity
    C++ 168 BSD-3-Clause 40 69 (1 issue needs help) 11 Updated Mar 31, 2025
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