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Converting Onshape assembly to robot definition (URDF, SDF, MuJoCo) through Onshape API
Release for the Siggraph Asia 2023 SKEL paper "From Skin to Skeleton: Towards Biomechanically Accurate 3D Digital Humans".
Example of robots that can be exported with onshape-to-robot tool
CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control
Training and evaluation scripts for ML models on AddBiomechanics data to infer missing dynamics data on mocap
Sampling-based model predictive control on GPU with JAX/MJX
A PyTorch library for implementing flow matching algorithms, featuring continuous and discrete flow matching implementations. It includes practical examples for both text and image modalities.
Learn how to train a quadruped robot to walk using reinforcement learning, from defining actions and observations to designing rewards and transitioning from simulation to reality.
This repository provide a tool to convert robot urdf file to mjcf.
Tutorial on how to get started with MuJoCo Simulation Platform. MuJoCo stands for Multi-Joint dynamics with Contact. It was acquired and made freely available by DeepMind in October 2021, and open …
Suite of motion imitation methods for training motion controllers.
Reinforcement Learning with Model Predictive Control
Gradio demo for the monocular fitting code
🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)
Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.
Zotero extension to retrieve and validate DOIs and shortDOIs
[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"
The official implementation of the paper "Reinforcement Learning-Based Motion Imitation for Physiologically Plausible Musculoskeletal Motor Control"
Motion imitation with deep reinforcement learning.
The first behavioral foundation model to control a virtual physics-based humanoid agent for a wide range of whole-body tasks.
Simulating SMPL humanoid, supporting PHC/PHC-MJX/PULSE/SimXR code bases.
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
A configuration framework that enhances Claude Code with specialized commands, cognitive personas, and development methodologies.