Starred repositories
The unified framework for sim & real robot teleoperation
Python package to create manipulation scenes.
An overview of different quaternion implementations and their chosen order: x-y-z-w or w-x-y-z?
哪吒开发套件介绍以及Windows、Linux系统安装、开发板资源分享
AKQuant is a high-performance quantitative research and trading framework built on Rust and Python! 开源量化回测框架
基于MuJoCo物理引擎的**操作空间阻抗控制(OSIC)**表面力控仿真系统。实现Franka Panda机械臂在接触表面上的稳定法向力控制，并集成零空间优化和切向运动功能。
[ICLR 2026] Towards Unified Latent VLA for Whole-body Loco-manipulation Control
This repository provides the mobile manipulator simulator used in the paper "UDE-based Dynamic Motion Force Control of Mobile Manipulators" Accepted by CEP 2026 (JCR Q1)
Mujoco playground for impedance control
A lightweight demo inspired by Prof. Schoellig's paper on Hierarchical MPC for sequential mobile manipulation tasks.
Planner for the ICRA 2023 submission titled Multi-Contact Task and Motion Planning Guided by Video Demonstration.
The C++ library for FLIQC (Fast LInear Quadratic Complementarity) motion planner.
Stanford CS234 Reinforcement Learning Spring 2024 assignments.
ForceCapture: a handheld robot-free data collection system, providing natural, force-aware and on-site force realism collecting experience
[arXiv 2025] ResMimic: From General Motion Tracking to Humanoid Whole-Body Loco-Manipulation via Residual Learning
MBDyn (https://www.mbdyn.org/) graphical post-processor for blender (https://www.blender.org/)
A repository for enforcing CBF constraints between strictly convex sets.
A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies
ALGLIB++ - descendant of ALGLIB, intermediate stage and core of a comprehensive AI/Robotics framework. Rebase pending.
SAPIEN Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark
Dexbotic: Open-Source Vision-Language-Action Toolbox
HoloMotion: A Foundation Model for Whole-Body Humanoid Control