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

[CoRL 2023] Robot Parkour Learning

[ICRA 2024]: Train your parkour robot in less than 20 hours.

The source code for the blog post The 37 Implementation Details of Proximal Policy Optimization

RL Environments in JAX 🌍

A simple OpenAI Gym environment for single and multi-agent reinforcement learning

Evolution Strategies in JAX 🦎

Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control

Code for "TD-MPC2: Scalable, Robust World Models for Continuous Control"

Python inverse kinematics using Pinocchio and QP solvers

An open, modular framework for zero-shot, language conditioned pick-and-drop tasks in arbitrary homes.

TORAX: Tokamak transport simulation in JAX

Tutorials on tinygrad

[CoRL 2023] This repository contains data generation and training code for Scaling Up & Distilling Down

Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

Official Implementation of the Universal Humanoid Controller in Mujoco. Supports Kinpoly (NeurIPS 2021) and EmbodiedPose (NeurIPS 2022).

Project Page for Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models

Code for "Embodied Intelligence via Learning and Evolution", Gupta et al, Nature Communications

[NeurIPS 2020] Official PyTorch Implementation of "Residual Force Control for Agile Human Behavior Imitation and Extended Motion Synthesis". NeurIPS 2020.

A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control

A GPU accelerated library for computing rigid body dynamics with analytical gradients

Differentiable QP solver in JAX

Differential Dynamic Programming and Iterative LQR in Drake

A grid world environment for high-level earthworks planning in JAX for RL.

Differentiable collision detection for capsules in JAX.

Air Hockey Challenge