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

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 …

Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, JAXADi enables the creation of efficient code that runs smoot…

Unified framework for robot learning built on NVIDIA Isaac Sim

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

Supplementary materials for "Learning Agile and Dynamic Motor Skills for Legged Robots"

Official Implementation of the ICLR 2024 spotlight paper: Universal Humanoid Motion Representations for Physics-Based Control

Code for ICCV 2021 paper "HuMoR: 3D Human Motion Model for Robust Pose Estimation"

A Python framework for high performance GPU simulation and graphics

Tools to load, process and visualize motion capture data

[SIGGRAPH Asia 2023] AdaptNet: Policy Adaptation for Physics-Based Character Control

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

Foundation Policies with Hilbert Representations (ICML 2024)

A GPU Accelerated Quadratic Programming Solver for Model-Predictive Control

Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.

This is the github repository for Equivariant Motion Manifold Primitives

an intuitive optimization tool tailored to robotics, based on CasADi

A Multi-Task Dataset for Simulated Humanoid Control

Code for ECCV 2020 paper "Contacts and Human Dynamics from Monocular Video".

Official Repository for "Eureka: Human-Level Reward Design via Coding Large Language Models" (ICLR 2024)

Code for training locomotion policies with RL

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

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

Library of rigid-body dynamics algorithms for systems with kinematic loops.

Master programming by recreating your favorite technologies from scratch.

Collection of generative models in Tensorflow

The CMU mocap dataset in bvh format

Code of the paper "LS-IQ: Implicit Reward Regularization for Inverse Reinforcement Learning" & LocoMuJoCo Baselines