Zachary Chunli JIANG's repositories
assistive-gym-fem
Assistive Gym, a physics-based simulation framework for physical human-robot interaction and robotic assistance.
autodistill
Images to inference with no labeling (use foundation models to train supervised models).
Codim-IPC
Source Codes for Codimensional Incremental Potential Contact (C-IPC)
ddh_driver
Direct-Drive Hand Driver
dejavu-audio
Audio fingerprinting and recognition in Python
Depth-Anything
[CVPR 2024] Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data. Foundation Model for Monocular Depth Estimation
DexterousHands
This is a library that provides dual dexterous hand manipulation tasks through Isaac Gym
drake-ros
Experimental prototyping (for now)
drqv2
DrQ-v2: Improved Data-Augmented Reinforcement Learning
high_speed_scooping
High-speed scooping with Direct-Drive Hand
ibc
Official implementation of Implicit Behavioral Cloning, as described in our CoRL 2021 paper, see more at https://implicitbc.github.io/
IPC
Incremental Potential Contact (IPC) is for robust and accurate time stepping of nonlinear elastodynamics. IPC guarantees intersection- and inversion-free trajectories regardless of materials, time-step sizes, velocities, or deformation severity.
kilogram-annotation-task
Task website for collecting tangram annotations from MTurk.
nvdiffrec
Official code for the CVPR 2022 (oral) paper "Extracting Triangular 3D Models, Materials, and Lighting From Images".
OcclusionFusion
OcclusionFusion: realtime dynamic 3D reconstruction based on single-view RGB-D
ocs2
Optimal Control for Switched Systems
pybullet-robot-envs
A Python package that collects robotic environments based on the PyBullet simulator, suitable to develop and test Reinforcement Learning algorithms on simulated grasping and manipulation applications.
rbdl
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.
softagent
Algorithms for deformable object manipulation benchmarked in SoftGym
tools-for-robotic-rl-icra2022
Tutorial: Tools for Robotic Reinforcement Learning, Hands-on RL for Robotics with EAGER and Stable-Baselines3
wolf-setup
WoLF: Whole-body Locomotion Framework for quadruped robots