Code for "Differentiable Robot Rendering" (CoRL 2024)

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

Motion Capture system using ArUco markers

EKF/UKF state estimators for estimating base and centroidal states of a legged robot

宇树科技 Yushu Technology (Unitree) go1 development notes

Official implementation of PACER, Pedestrian Animation ControllER, of CVPR 2023 paper: "Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion".

Imitation Learning from Observation Through Generative Modelling

An open source implementation of Unitree Go1 controllers

Deployment kit for Unitree Go1 Edu

Isaac Gym Reinforcement Learning Environments

ROS Wrapper for Intel(R) RealSense(TM) Cameras

SDK for Unitree L1 LiDAR

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

Open Source Computer Vision Library

Point-LIO algorithm for Unitree LiDAR products.

[ICRA 2024]: Train your parkour robot in less than 20 hours.

🤗 Diffusers: State-of-the-art diffusion models for image, video, and audio generation in PyTorch and FLAX.

Reinforcement Learning Environments for Omniverse Isaac Gym

Fast and simple implementation of RL algorithms, designed to run fully on GPU.

Supplementary materials for "Learning Locomotion over Challenging Terrain"

Minkowski Engine is an auto-diff neural network library for high-dimensional sparse tensors

C++ library to implement invariant extended Kalman filtering for aided inertial navigation.

Example binary running the Pronto state estimator on the ANYmal B robot

Tight Learned Inertial Odometry

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