Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

A python package for simulating movement and spatial cell types (e.g. place cells, grid cells) in continuous environments.

Humanoid robotics prototyping environment based on OpenRAVE

A Multi-Task Dataset for Simulated Humanoid Control

Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969

Model Predictive Control in JAX

Probabilistic Contact State Estimation for Legged Robots in ROS

A system for generating diverse, physically compliant 3D human motions across multiple motion types, guided by plot contexts to streamline creative workflows in anime and game design.

A neuromechanical model of adult Drosophila melanogaster.

Mujoco Gym environment for the control of quadruped robots

Developing a four-legged Quadruped robot 'DIPLOID' with stable walking by reinforced learning on bezier gait and terrain awareness using SLAM technique as a part of long-term project undertaken by Team Robocon. (2019-present)

Flow RL. ReinFlow: Fine-tuning Flow Policy with Online RL (Reinforcement Learning).

A legged manipulator framework based on IsaacLab

Official code for ICML 2024 paper, "RIME: Robust Preference-based Reinforcement Learning with Noisy Preferences" (ICML 2024 Spotlight)

A PLEN2 Robot learns to walk using Twin-Delayed Deep Deterministic Policy Gradient in Gazebo and PyBullet with a custom OpenAI Gym interface

SWAGGER: Sparse WAypoint Graph Generation for Efficient Routing

An all-in-one project for humanoid robots from locomotion to motion tracking.

RL for Walk and Stop for quadruped legged robot (AlienGo - Unitree) + Examples. PPO (SKRL), DDPG (SKRL, SB3), TD3 (SB3).