Yuchuan Lu's repositories
barkour_robot
Barkour Robot: Agile Quadruped Robots by Google DeepMind
CppAD
A C++ Algorithmic Differentiation Package: Home Page
Dojo.jl
A differentiable physics engine for robotics
equinox
Elegant easy-to-use neural networks + scientific computing in JAX. https://docs.kidger.site/equinox/
Hector_Simulation
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
humanoid-gym
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
idyntree
Multibody Dynamics Library designed for Free Floating Robots
ihmc-open-robotics-software
Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
IsaacLab
Unified framework for robot learning built on NVIDIA Isaac Sim
jaxsim
A scalable physics engine and multibody dynamics library implemented with JAX. With JIT batteries :battery:
LaTeX-OCR
pix2tex: Using a ViT to convert images of equations into LaTeX code.
legged_gym
Isaac Gym Environments for Legged Robots
lie-group-controllers
Header-only C++ library containing controllers designed for Lie Groups.
loco-mujoco
Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.
LocomanipController
Humanoid loco-manipulation controller
material_modern-cpp
Repository hosting the modern c++ course material
matlab-whole-body-simulator
A robot simulator running on simulink
mc_rtc
mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
MultiContactController
Humanoid multi-contact motion controller
NMPC
Non-linear model predictive control (NMPC) library
piqp
An Proximal Interior Point Quadratic Programming solver
pypose
A library for differentiable robotics.
PythonRobotics
Python sample codes for robotics algorithms.
rsl_rl
Fast and simple implementation of RL algorithms, designed to run fully on GPU.
Simple
The Simple Simulator: Simulation Made Simple
SNMPC
Stochastic Nonlinear MPC
Task-Space-Inverse-Dynamics-TSID-
Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio
visual_wholebody
Train a loco-manipulation dog with RL