Control interface built on top of franka_ros that allows controlling the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly D…

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

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

Natural Language Processing classification project with machine learning models developed to classify consumer complaints.

ROS integration for Franka research robots

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

robomimic: A Modular Framework for Robot Learning from Demonstration

Code for the paper "Planning with Diffusion for Flexible Behavior Synthesis"

Code repository for the CoRL 2021 paper "RoCUS: Robot Controller Understanding via Sampling"

A minimal PyTorch re-implementation of the OpenAI GPT (Generative Pretrained Transformer) training

UROP work for the Interactive Robotics Group @ MIT CSAIL

A library of long-horizon Task-and-Motion-Planning (TAMP) problems in kitchen and household scenes, as well as planners to solve them

Categorized Models used by Yang's kitchen robot projects

Tools for task-and-motion planning in PyBullet with robots such as PR2, Movo, Kuka

Standalone robot kinematics (forward and inverse) library, the robot's kinematic chain is defined with it's corresponding DH parameters.

DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo.

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