Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets

Software tools for agile quadrupeds (Unitree Go1)

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

ROS2-Control implementations for Quadruped robots

Sampling-based model predictive control on GPU with JAX/MJX

Code for SDS: Quadrupedal Skill Synthesis from Single Video Demonstration

[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

This is the homepage of a new book entitled "Mathematical Foundations of Reinforcement Learning."

unitree Go2 robot learns locomotion with N-P3O algorithm and HIM alike policy trained by isaacgym

Bipedal robot control using ocs2

[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

[RSS 2024]: Expressive Whole-Body Control for Humanoid Robots

🐕 Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1

Official implementation of Diffusion Policy Policy Optimization, arxiv 2024

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

ROS2 version of OCS2, refactor with modern-cmake

AMP implementation with minimal changes on legged_gym and rsl_rl

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Planning framework for legged locomotion

Quadruped manipulator controller using model predictive control and whole body control based on OCS2