Tensors and Dynamic neural networks in Python with strong GPU acceleration

A generative world for general-purpose robotics & embodied AI learning.

Sequence modeling benchmarks and temporal convolutional networks

Unified framework for robot learning built on NVIDIA Isaac Sim

Isaac Gym Reinforcement Learning Environments

Convert images of LaTex math equations into LaTex code.

OpenVLA: An open-source vision-language-action model for robotic manipulation.

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

Isaac Gym Environments for Legged Robots

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

A generative and self-guided robotic agent that endlessly propose and master new skills.

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.

[CoRL 2023] Robot Parkour Learning

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

Awesome Quadrupedal Robots

How to use wandb?

Elevation Mapping on GPU.

Deep RL for MPC control of Quadruped Robot Locomotion

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

Official implementation of "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

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 …

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

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

[RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

RL Extension Library for Robots, Based on IsaacLab.

Toolkit for vision-guided quadrupedal locomotion research