johnzhang3

HowToCook

程序员在家做饭方法指南。Programmer's guide about how to cook at home (Simplified Chinese only).

example-robot-data

Set of robot URDFs for benchmarking and developed examples.

corrgen

A differentiable collision-free corridor generator.

ppo.cpp

Proximal Policy Optimization (PPO) written in C++ with PyTorch (LibTorch)

rs

A simple JAX-based implementation of random search for locomotion tasks using MuJoCo XLA (MJX).

qpax

Differentiable QP solver in JAX

V2V

Code for "From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers"

gcspy

unitree_ros_packages

lazy_nlp_qd.jl

quick and dirty Ipopt interface

TinyMPCTh

Pytorch Implementation of TinyMPC

chatllm-vscode

MuJoCo.jl

Julia bindings and visualiser for the MuJoCo physics engine.

ppr

Code for PPR: Physically Plausible Reconstruction from Monocular Videos (ICCV 23).

lab4d

A framework for 4D reconstruction from monocular videos.

how-kalman-filters-work-examples

Example files for the article "How Kalman Filters Work".

ReLUQP-py

A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control

ReLUQP.jl

A GPU Accelerated Quadratic Programming Solver for Model-Predictive Control

TinyMPC

Model-predictive control for microcontrollers

Lab-Logos

walk-these-ways

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.

ppr-diffphys

This repo contains the differentiable physics simulation module in "PPR: Physically Plausible Reconstruction from Monocular Videos". ICCV 23.

GBD-PCG-Python

matrixcalc

MIT IAP short course: Matrix Calculus for Machine Learning and Beyond

scqpth

Differentiable ADMM splitting method for convex quadratic programming in pytorch

SLoMo

Motion Imitation from Casual Videos for Legged Robots

proxqp_benchmark

QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES

CGAC

ProbabilisticContactEstimation

Probabilistic Contact State Estimation for Legged Robots in ROS

dpax

Differentiable collision detection for capsules in JAX.