Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dy…

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …

A Python library for controlling various robot arms using a common interface

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

Implementation of Reinforcement Learning Algorithms. Python, OpenAI Gym, Tensorflow. Exercises and Solutions to accompany Sutton's Book and David Silver's course.

World Models Experiments

Code for the IEEE Robotics and Automation Letters paper titled "Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning"

Repository for reading the Dex-Net 2.0 HDF5 database of 3D objects, parallel-jaw grasps, and robust grasp metrics

C++ Library for Interfacing with Libfranka and Frankapy

State-of-the-art method for model-based dexterous manipulation

Massively parallel rigidbody physics simulation on accelerator hardware.

Python interface to control Franka Emika Panda Research Robot Arms.

[CoRL 2024] HumanPlus: Humanoid Shadowing and Imitation from Humans

2D Animations, creating Animated GIFs or movies

Easy and full-automated markdown setup for technical documents.

OpenVLA: An open-source vision-language-action model for robotic manipulation.

Contains the behavior engine FlexBE.

Educational Python library for manipulator motion planning

EAGERx is a physics engine abstraction layer for reinforcement learning. EAGERx allows switching between simulators and reality with a single line of code, supports action and observation processin…

A Versatile and Robust SDXL-ControlNet Model for Adaptable Line Art Conditioning

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

A modular, real-time controller library for Franka Emika Panda robots

Open source SVG symbol sets that can be used as Inkscape symbols