Self-contained, minimalistic implementation of diffusion models with Pytorch.

Awesome collection of resources and papers on Diffusion Models for Robotic Manipulation.

A minimal yet resourceful implementation of diffusion models (along with pretrained models + synthetic images for nine datasets)

YCB dataset with urdf and xml files. Ready to be used in different simulations such as PyBullet, Genesis and Mujoco.

Autoware - the world's leading open-source software project for autonomous driving

Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research.

unitree g1 robot walking using omniverse, Isaaclab, PPO Reinforcement learning.

Humanoid Robot Locomotion Stack for Unitree G1 Using Convex Model Predictive Control

This project aims to fine-tune and deploy NVIDIA's Isaac GR00T N1 model to the unitree G1 humanoid robot

IsaacSIM standalone script for Unitree G1 locomotion.

ROS2 packages for Unitree G1 Humanoid

This repository aims at deploying RL models trained with unitree_rl_lab environment. It only uses python.

Use PHC framework to retarget motion from AMASS dataset into unitree G1 style

Unitree G1 MPC OCS2

RoboMimicDeploy_G1 is a policy deployment and control framework for the Unitree G1 robot, supporting both Mujoco simulation and real-time control on the physical robot.

We have organized a whole process to train unitree robot g1 , sim2sim_mujoco, sim2real based on ASAP(phase1)

Creating a diffusion model from scratch in PyTorch to learn exactly how they work.

Code for Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations (Paper: https://dl.acm.org/doi/10.1145/3723872, Video: https://www.youtube.com/watch?v=KszH8-YJayQ)

HaMeR: Reconstructing Hands in 3D with Transformers

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

SOMA: Unifying Parametric Human Body Models

A collection of resources regarding the interplay between differential equations, deep learning, dynamical systems, control and numerical methods.

Safe robot learning

Official implementation of "HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control"

Isaac Lab Humanoid AMP for Unitree G1

Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)

This is a repository for reinforcement learning implementation for Unitree robots, based on IsaacLab.

The Unitree simulation environment built based on Isaac Lab