Zi-ang Cao's repositories
jax-mppi_cbf
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
3D-Diffusion-Policy
[arXiv 2024] 3D Diffusion Policy
Awesome-robot-learning-paper
A place to list out the interesting work that I found in the robotics field. Welcome to contribute!
consistency-policy
[RSS 2024] Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation
bimanual-imitation
Code for paper, "A Comparison of Imitation Learning Algorithms for Bimanual Manipulation" (Drolet et al., 2024)
d3fields
[CoRL 24] D^3Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Robotic Manipulation
DeepMimic
Motion imitation with deep reinforcement learning.
gen3-mujoco
Mujoco model of the Kinova Gen3 robot
humanoid-gym
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
humanplus
HumanPlus: Humanoid Shadowing and Imitation from Humans
Improved-3D-Diffusion-Policy
[arXiv 2024] Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies. Part 1: Train & Deploy of iDP3
IsaacLab
Unified framework for robot learning built on NVIDIA Isaac Sim
MuJoCo-Controllers
Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.
MuJoCo-IKSolver
Python inverse kinematics based on MuJoCo
mujoco_menagerie
A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.
ReKep
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
sai2-primitives_projects
Libraries of primitives for robot control
SAM-2
The repository provides code for running inference with the Meta Segment Anything Model 2 (SAM 2), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.
Track-2-Act
code for the paper Predicting Point Tracks from Internet Videos enables Diverse Zero-Shot Manipulation
universal_manipulation_interface
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots