RAGFlow is an open-source RAG (Retrieval-Augmented Generation) engine based on deep document understanding.

A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, planning and control modules, visualization tools, plotting and…

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 …

电子书

OCRmyPDF adds an OCR text layer to scanned PDF files, allowing them to be searched

Whole-Body Dynamics Control Software Package for Humanoid Robots

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

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

Deep RL for MPC control of Quadruped Robot Locomotion

殆知阁古代文献

Kalman Filter book using Jupyter Notebook. Focuses on building intuition and experience, not formal proofs. Includes Kalman filters,extended Kalman filters, unscented Kalman filters, particle filte…

This repo includes ChatGPT prompt curation to use ChatGPT and other LLM tools better.

A toolkit for developing and comparing reinforcement learning algorithms.

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

A small robot especially for rl training locomotion

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

Open-Sourecd project for pointfoot bipedal robot walking control in MuJoCo simulation. Built on top of nabo(https://github.com/tryingfly/nabo)

Bipedal Skills Benchmark for Reinforcement Learning

一个全开源低成本的双足机器人（2万元（$3000））A Fully Opensourced Humanoid Robot with only $3000

A planning, control, and analysis toolbox for nonlinear dynamical systems. Please see the WIKI for documentation.

The course text for MIT 6.832 (and 6.832x on edX)

MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.

A simple biped stance planner utility based on MuJoCo. Torso, left foot and right foot position and orientation can be adjusted to obtain a suitable robot posture.

Training a humanoid robot for locomotion using Reinforcement Learning

An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.

mujoco MPC bipedal

STRIDE is a versatile bipedal robot platform for research and education

MuJoCo simulation for bipedal robot Cassie.