Low-level locomotion policy training in Isaac Lab

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

[IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videos

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

[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

RL Extension Library for Robots, Based on IsaacLab.

ROS Wrapper for Intel(R) RealSense(TM) Cameras

Intel® RealSense™ SDK

Profiling and inspecting memory in pytorch

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

Toolkit for vision-guided quadrupedal locomotion research

A Python framework for high performance GPU simulation and graphics

A CUDA Mesh RayTracer with BVH acceleration, with python bindings and a GUI.

Quick trimesh headless rendering. Supports depth map, normal map, ray to mesh intersection point and triangle ids.

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

ray cast mesh to get normal, depth and face_ids

Depth map generator for Python written in C++

Code for Rapid Locomotion via Reinforcement Learning

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

Open-source KVM software

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

Modular reinforcement learning library (on PyTorch and JAX) with support for NVIDIA Isaac Gym, Omniverse Isaac Gym and Isaac Lab

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

Code for training locomotion policies with RL