A research-oriented collection of code, papers, and resources for legged robotics and model- and learning-based control.

Python inverse kinematics based on MuJoCo.

Repository for our papers: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics and Uncertainty-Aware Robotic World Model Makes Offline Model-Based Reinforceme…

A ROS 2 version for YOPO-Simple

You Only Plan Once: A Learning Based Quadrotor Planner

Fast and embedded solvers for nonlinear optimal control and nonlinear model predictive control

Clean, Robust, and Unified PyTorch implementation of popular Deep Reinforcement Learning (DRL) algorithms (Q-learning, Duel DDQN, PER, C51, Noisy DQN, PPO, DDPG, TD3, SAC, ASL)

ROS2 version of OCS2, refactor with modern-cmake

A C++ Algorithmic Differentiation Package: Home Page

[RSS 2025] AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control

Modern Robotics: Mechanics, Planning, and Control C++ Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code …

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

Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control

Book_4_《矩阵力量》 | 鸢尾花书：从加减乘除到机器学习；上架！

Matplotlib styles for scientific plotting

Zhejiang University Graduation Thesis LaTeX Template

learning SLAM,curse,paper and others

solution of exercises of the book "probabilistic robotics"

Crack LeetCode, not only how, but also why.

Python sample codes and textbook for robotics algorithms.

📚 C/C++ 技术面试基础知识总结，包括语言、程序库、数据结构、算法、系统、网络、链接装载库等知识及面试经验、招聘、内推等信息。This repository is a summary of the basic knowledge of recruiting job seekers and beginners in the direction of C/C++ technology, in…

Common used path planning algorithms with animations.

An optimization-based multi-sensor state estimator

cpp implementation of robotics algorithms including localization, mapping, SLAM, path planning and control

C++/Java implementations of the Gang of Four's "Design Patterns: Elements of Reusable Object-Oriented Software"

The C++ Core Guidelines are a set of tried-and-true guidelines, rules, and best practices about coding in C++

The official Agility Robotics Cassie documentation and software release repository.