ZhengyiLuo
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Reinforcement Learning Environments for Omniverse Isaac Gym
[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
[CoRL 2023] This repository contains data generation and training code for Scaling Up & Distilling Down
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 …
Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactions
Official code release for the paper "SkillMimic: Learning Reusable Basketball Skills from Demonstrations"
Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars
Body Transformer: Leveraging Robot Embodiment for Policy Learning
SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
A generative world for general-purpose robotics & embodied AI learning.
Learning with 3D rotations, a hitchhiker’s guide to SO(3) - ICML 2024
Google DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo.
Enable inputting a SMPL sequence into AddBiomechanics to fit an OpenSim skeleton model to the sequence.
Code for the paper "Training Diffusion Models with Reinforcement Learning"
A library for human kinematic motion and numerical optimization solvers to apply human motion
Official Implementation of SIGGRAPH Asia 2023 (TOG) Paper: Object Motion Guided Human Motion Synthesis
Code release for "Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps"
A Pytorch implementation of the bps code using chamfer distance on GPU
Efficient Learning on Point Clouds with Basis Point Sets
Physically Plausible Full-Body Hand-Object Interaction Synthesis
[CVPR2023] The official repo for OC-SORT: Observation-Centric SORT on video Multi-Object Tracking. OC-SORT is simple, online and robust to occlusion/non-linear motion.
[CVPR 2024] Official implementation of the paper "Towards Versatile Human-Human Interaction Analysis"