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acados

Fast and embedded solvers for nonlinear optimal control

adaptnet

[SIGGRAPH Asia 2023] AdaptNet: Policy Adaptation for Physics-Based Character Control

amp_for_hardware

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

apex

A continuous deep reinforcement learning framework for robotics

ase

casadi

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

cassie_controller_angularmomentum

cassie_flatground_controller

cassie_model

Repo containing the urdf and frost based models of Cassie

cassie_mujoco_rl

A continuous deep reinforcement learning framework for robotics

cheetah-software

control-toolbox

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

deepmimic

Motion imitation with deep reinforcement learning.

frost-dev

Fast Robot Optimization and Simulation Toolkit (FROST)

himloco

Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control

kino_dynamic_opt

Kino-dynamic optimization algorithm for multiped robots

lcm_to_ros

Automatically generate ROS messages and corresponding republishers for LCM messages

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

metarobotics

mit-biomimetics_cheetah

mpc-and-mhe-implementation-in-matlab-using-casadi

This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE)

ocs2

Optimal Control for Switched Systems

ocs2_legged_robot_notes

parkour

[CoRL 2023] Robot Parkour Learning

pbrs-humanoid

qm_control

Quadruped manipulator controller using model predictive control and whole body control

quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.