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ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.

OmniControl: Control Any Joint at Any Time for Human Motion Generation, ICLR 2024

The official PyTorch implementation of the paper "Human Motion Diffusion Model"

Towards Safety Assured End-to-End Vision based Control for Autonomous Racing

Platform for General Robot Intelligence Development

CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control

Running VLA at 30Hz frame rate and 480Hz trajectory frequency

X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real

Code for DreamControl: Human-inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion

[IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars

[L4DC 2026] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"

[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

Code for α-RACER: Real-Time Algorithm for Game-Theoretic Motion Planning and Control in Autonomous Racing using Near-Potential Function

Code for LATTE-MV: Learning to Anticipate Table Tennis hits from Monocular Videos

This repository contains the implementation for the paper "Revisiting Few Shot Object Detection with Vision-Language Models"

High-fidelity simulator for off-road driving

We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enables real-time, contact-rich locomotion and manipulation using …

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …

This repository contains multiple approaches for generating global racetrajectories.

Python sample codes and textbook for robotics algorithms.