Lists (4)
Stars
Realtime nonlinear MPC via fast LTV-QP approximation with symbolic modeling and OSQP.
cuTile is a programming model for writing parallel kernels for NVIDIA GPUs
Differentiable numerical differentiation and smoothing for noisy time-series in PyTorch
TorchOpt is an efficient library for differentiable optimization built upon PyTorch.
A Modular Toolkit for Robot Kinematic Optimization
Clarabel.rs: Interior-point solver for convex conic optimisation problems in Rust.
PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encoders.
Repository for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics
A lightweight suite of motion imitation methods for training controllers.
🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)
Multibody Dynamics Library designed for Free Floating Robots
Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar.
The repository provides code for running inference and finetuning with the Meta Segment Anything Model 3 (SAM 3), links for downloading the trained model checkpoints, and example notebooks that sho…
Simulating SMPL humanoid, supporting PHC/PHC-MJX/PULSE/SimXR code bases.
Numerical Inverse Kinematics solver based on JAX + MJX
Modern robot motion planning library based on Pinocchio.
A Tutorial on Manipulator Differential Kinematics
n-dimensional RRT, RRT* (RRT-Star)
An optimizing IK solver based on the Lie group of rigid transforms SE(3)
MjLab reinforcement learning for the BDX-R robot