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altro-cpp

A non-linear trajectory optimization library developed by Optimus Ride, Inc. This library implements a C++ version of the original open-source ALTRO solver developed by the Robotic Exploration Lab at Stanford and Carnegie Mellon Universities, also available open-source as an official Julia package.

awesome-isaac-gym

A curated list of awesome NVIDIA Issac Gym frameworks, papers, software, and resources

awesome-legged-locomotion-learning

A curated list of resources relevant to legged locomotion learning of robotics.

awesome_quadrupedal_robots

Awesome Quadrupedal Robots

centroidalcontrolcollection

Collection of centroidal control for legged robots

dog_rl_deploy

四足机器人强化学习实物部署（Sim to Real）

dreamwaq

drl-code-pytorch

Concise pytorch implements of DRL algorithms, including REINFORCE, A2C, DQN, PPO(discrete and continuous), DDPG, TD3, SAC.

example_test

some c++ test

extreme-parkour

Train your parkour robot in less than 20 hours.

gamma

himloco

[arXiv 2023] Hybrid Internal Model: A Simple and Efficient Learner for Agile Legged Locomotion

hkd-mpc

A nonlinear MPC framework for agile and versatile quadruped locomotion

hpipm-cpp

C++ interface for hpipm, a high-performance interior point MPC solver

humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

hunter_bipedal_control

An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.

iit-legged-robots-scripts

None

learninghumanoidwalking

Training a humanoid robot for locomotion using Reinforcement Learning

legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

legged_gym

Isaac Gym Environments for Legged Robots

lerobot

🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch

ocs2

Optimal Control for Switched Systems

optimtraj

A trajectory optimization library for Matlab

orcagym

phase-based Observations, Rewards, Coupling Ablation

parkour

[CoRL 2023] Robot Parkour Learning

pbrs-humanoid

qp_solver_benchmark

Compare qpOASES and OSQP

realsense2_description

|| Bring up of intel realsense d435 camera in rviz and gazebo ||

realsense_gazebo_plugin

|| The realsense gazebo plugin for intel cameras from PAL Robotics ||

rf-mpc

Representation-Free Model Predictive Control for Dynamic Quadruped