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ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
Run compilers interactively from your web browser and interact with the assembly
VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation (CoRL 2024)
A trajectory optimizer that can make quadrupeds backflip.
MuJoCo Models for Google's Scanned Objects Dataset
Ray is an AI compute engine. Ray consists of a core distributed runtime and a set of AI Libraries for accelerating ML workloads.
CloudPeek is a lightweight, cross-platform, single-header C++ point cloud viewer. It’s designed for simplicity and efficiency, requiring no heavy libraries like PCL or Open3D. Ideal for visualizing…
Differentiable simulation for system identification and visuomotor control
A fast algorithm for finding an optimal path in a collection of safe boxes
Code for the paper "Planning with Diffusion for Flexible Behavior Synthesis"
🚀 Kick-start your C++! A template for modern C++ projects using CMake, CI, code coverage, clang-format, reproducible dependency management and much more.
An extension of the Flexible Collision Library
Set of robot URDFs for benchmarking and developed examples.
Official implementation of Diffusion Policy Policy Optimization, arxiv 2024
A simple commandline utility to generate grid-based signed distance field (level set) generator from triangle meshes, using code from Robert Bridson's website.
Open3D: A Modern Library for 3D Data Processing
For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
A Tutorial on Manipulator Differential Kinematics
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 …
🍇 A C++ library for parallel graph processing (GRAPE) 🍇
YAETS (Yet Another Execution Tracing System) is a library designed to trace function execution in C++ asynchronously, combined with Python tools to analyze the results through Gantt charts and hist…