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The source code for the blog post The 37 Implementation Details of Proximal Policy Optimization
Matlab/Simulink controller for balancing and walking of humanoid robots
Simulink toolbox to rapidly prototype robot controllers
Implementation of π₀, the robotic foundation model architecture proposed by Physical Intelligence
AddressSanitizer, ThreadSanitizer, MemorySanitizer
Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)
Quaternion Model Predictive Control for Legged Robots
Massively parallel rigidbody physics simulation on accelerator hardware.
VILA - a multi-image visual language model with training, inference and evaluation recipe, deployable from cloud to edge (Jetson Orin and laptops)
[CoRL 2024] HumanPlus: Humanoid Shadowing and Imitation from Humans
An Open Source Task Solving library with Constraints
Repository for our paper: FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning, Proceedings of the 12th International Conference on Learning Representations (ICLR)
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
Machine Learning workshops developed by Christopher Blanton, Ph.D. for Georgia Institute of Technology Partnership for an Advanced Computing Enviornment
Unified framework for robot learning built on NVIDIA Isaac Sim
Python inverse kinematics based on Pinocchio
A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: [email protected]
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion
Differential Dynamic Programming controller operating in OpenAI Gym environment.
Development Containers: Use a container as a full-featured development environment.
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Creating a diffusion model from scratch in PyTorch to learn exactly how they work.