Stars
Adversarial Motion Priror(AMP) for Isaaclab manager based env
Batched SRBD-MPC tailored for learning and model-based combined research.
Numerical Inverse Kinematics solver based on JAX + MJX
GPU-friendly, auto-differentiable LQR solver with JAX.
Official implementation of OpenWBT.
TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videos
Code for ECCV 2020 paper "Contacts and Human Dynamics from Monocular Video".
Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control
Locomotion tasks for bipedal robots in IsaacLab
[Humanoids 2025] Learning from Massive Human Videos for Universal Humanoid Pose Control
A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)
Official code of "HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimation", CVPR 2021
Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve a high numerical robustness.
Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"
🐕 Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1
RAPTOR: RAPid and Robust Trajectory Optimization for Robots
whole body control QP solver with full friction cones
A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control
Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on work deploying the algorithm onto robot hardware.
A compact Constrained Model Predictive Control (MPC) library with Active Set based Quadratic Programming (QP) solver for Teensy4/Arduino system (or any real time embedded system in general)