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A Python interface and simulation environemtn for the Unitree Go2 robot.

C++ 19 5 Updated Feb 20, 2025

PyTorch Code for Neural MP: A Generalist Neural Motion Planner

Python 107 9 Updated Nov 19, 2024

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Python 639 82 Updated Feb 20, 2025

LipSDP - Lipschitz Estimation for Neural Networks

MATLAB 65 17 Updated Mar 7, 2022

Official implementation of Diffusion Policy Policy Optimization, arxiv 2024

Python 342 39 Updated Feb 4, 2025

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Python 657 71 Updated Feb 20, 2025

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

C++ 912 185 Updated Feb 24, 2025

Dynamic model of the Franka Emika Panda robot

C++ 146 44 Updated Jul 19, 2024

Teaching robots to respond to open-vocab queries with CLIP and NeRF-like neural fields

Python 163 18 Updated Mar 2, 2024

Example pybind11 module built with a CMake-based build system

Python 652 227 Updated Feb 24, 2025

A unified Python simulation and hardware communication environment for Franka FR3 robots.

Python 14 3 Updated Aug 15, 2024

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

Python 1,759 253 Updated Feb 24, 2025

Direct parameterization of Lipschitz-bounded deep networks

Python 13 Updated May 28, 2023
Python 3 4 Updated Jul 27, 2024
Jupyter Notebook 2 Updated Apr 7, 2024

Assorted exercises in Pytorch

Jupyter Notebook 13 26 Updated Dec 8, 2023

95.47% on CIFAR10 with PyTorch

Python 6,086 2,157 Updated Feb 24, 2023

Open-source implementation of Deep Differential Networks with analytical Jacobian and Hessian

Python 7 4 Updated Dec 29, 2020

Toolkit for learning controllers based on robust control Lyapunov barrier functions

Python 148 47 Updated Jul 10, 2024

Code for CDC2022 submission

Python 11 Updated Feb 11, 2025

neural networks to learn Koopman eigenfunctions

Jupyter Notebook 392 127 Updated Mar 22, 2024

Neural Koopman Lyapunov Control

Jupyter Notebook 21 4 Updated May 5, 2023
Jupyter Notebook 1 Updated Feb 6, 2021

Safe reinforcement learning with stability guarantees

Python 230 65 Updated Feb 8, 2022

Contains the code for the paper Neural Lyapunov Redesign published at L4DC 2021.

Python 7 2 Updated Apr 18, 2021

Enforcing robust control guarantees within neural network policies

Python 54 10 Updated Apr 24, 2021

Gathers machine learning and deep learning models for Stock forecasting including trading bots and simulations

Jupyter Notebook 8,430 2,902 Updated Apr 16, 2023

Code accompanying the paper "Goal-conditioned Batch RL for Rotation Invariant Locomotion" (ICLR 2020, BeTR-RL)

Python 3 Updated Apr 22, 2020

Final Project for CS275 @UCLA Locomotion by Reinforcement Learning

Python 3 2 Updated Dec 8, 2022

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

C++ 837 178 Updated Oct 5, 2022
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