HuNingHe

hunter_bipedal_control

An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.

awesome-rl

Reinforcement learning resources curated

awesome-humanoid-learning

Humanoid Robots Resources

NMPC-DCLF-DCBF

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

ContactImplicitMPC.jl

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

TinyMPC-AL

Model-predictive control based on augmented Lagrangian

ALTRO

C++ implementation of ALTRO (Augmented Lagrangian TRajectory Optimizer)

TinyMPC

Model-predictive control for microcontrollers

l4casadi

Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

ml-casadi

Use PyTorch Models with CasADi and Acados

Numerical-Optimization-Books

Collected study materials in Numerical Optimization ANU@MATH3514(HPC)

A-Comparison-of-Selected-Method-of-Inverse-Kinematics-for-Robot-Manipulators

This contains my Msc Thesis in Automation and Robotics. The project implements three methods of solving the inverse Kinematics problem: Jacobian Transpose, Jacobian Pseudo-Inverse and the Modified Levenberg-Marquardt Methods.

HKD-MPC

A nonlinear MPC framework for agile and versatile quadruped locomotion

HS-DDP-CPP

analytical-wrench-cone

Analytical formula of the wrench friction cone for surface contacts

SQDDPG

This is a framework for the research on multi-agent reinforcement learning and the implementation of the experiments in the paper titled by ''Shapley Q-value: A Local Reward Approach to Solve Global Reward Games''.

DreamWaQ

intro_spot

Optimized-Kalman-Filter

Get an optimized Kalman Filter from data of system-states and observations.

mjx

Mjx: A framework for Mahjong AI research

loco-mujoco

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

mujoco_menagerie

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

unitree_rl

Quadruped robot reinforcement learning deployment method based on the unitree_guide state machine.

Wheel-Legged-Gym

fld

Repository for our paper: FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning, Proceedings of the 12th International Conference on Learning Representations (ICLR)

AMP_for_hardware

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

LearningByCheating

(CoRL 2019) Driving in CARLA using waypoint prediction and two-stage imitation learning

towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

pbrs-humanoid

rl_locomotion

Code for training locomotion policies with RL