Dynamic Autonomy and Intelligent Robotics Lab

dairlib

contact-nets

Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations

cassie-gazebo-sim

Gazebo simulator for the Agility Robotics Cassie robot

dair_pll

DAIRLab Physics-based Learning Library

drake-pytorch

Learning-LCS

A new learning formulation/method to learn/identify a piecewise linear system, also named as linear complementarity system.

c3

Consensus Complementarity Control

invariant-ekf

C++ library to implement invariant extended Kalman filtering for aided inertial navigation.

cassie-mujoco-sim

A simulation library for Agility Robotics' Cassie robot using MuJoCo

ContactLearningBias

ImpactModeling

cassie_impact_dataset

State and input trajectory dataset for the bipedal robot Cassie near impact for highly dynamics motions

elevation_mapping_cupy

Elevation Mapping on GPU.

cassie_documentation

Wiki for Cassie-related information/tutorials

acd2d

Approximate Convex Decomposition of Polygons

apex

A continuous deep reinforcement learning framework for robotics

cartpole_mechanical_setup

dairlab.github.io

DAIRLab GitHub Pages

director

A robotics interface and visualization framework, with extensive applications for working with http://drake.mit.edu

drake-iiwa-driver

libbot2

Fork of Libbot2

robot_fingers

Drivers, examples and basic scripts for the (Tri-)Finger robots.

signal-scope

A live plotting tool for LCM message fields.

SOFAClutchProject

SOSBipeds

tagslam_root

Root repository for complete kuka vision setup