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LeCAR-Lab /dial-mpc

Star609

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 robot full-order torque-level control with both precision and agility in a training-free manner.

mpc optimal-control diffusion humanoid legged-robots quadruped online-control sampling-based-control

UpdatedMar 1, 2025
Python

Skylark0924 /Rofunc

Star584

🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation

robot inverse-kinematics reinforcement-learning-algorithms robot-control imitation-learning robot-learning humanoid learning-from-demonstration humanoid-robots forward-kinematics planning-algorithms optitrack robot-manipulation embodied-ai isaac-sim robot-planning isaac-gym manipulability

UpdatedMar 8, 2025
Python

zeroth-robotics /zeroth-bot

Star582

3D-printed open-source humanoid robot platform for sim-to-real and RL

robotics simulation rl humanoid

UpdatedMar 19, 2025
Rust

robot-descriptions /awesome-robot-descriptions

Star552

A curated list of awesome robot descriptions (URDF, MJCF)

awesome robot robotics awesome-list urdf humanoid legged-robots biped quadruped urdf-models urdf-descriptions mjcf

UpdatedMar 12, 2025

DRCL-USC /Hector_Simulation

Star436

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

robot mpc optimal-control locomotion humanoid legged-robots humanoid-control bipedal-locomotion-control

UpdatedJan 13, 2025
C++

plenprojectcompany /PLEN2

Star289

The world's first printable open-source humanoid, starter kit.

arduino robot plen humanoid printable

UpdatedJan 13, 2021
HTML

evyatarmeged /Humanoid

Star220

Node.js package to bypass CloudFlare's anti-bot JavaScript challenges

bot scraping anti-bot-page web-scraping scrape anti-bot bypass humanoid bypass-waf

UpdatedMay 21, 2023
JavaScript

ZhengyiLuo /UHC

Star211

Official Implementation of the Universal Humanoid Controller in Mujoco. Supports Kinpoly (NeurIPS 2021) and EmbodiedPose (NeurIPS 2022).

robotics humanoid humanoid-control

UpdatedFeb 24, 2024
Python

ZhengyiLuo /PULSE

Star193

Official Implementation of the ICLR 2024 spotlight paper: Universal Humanoid Motion Representations for Physics-Based Control

control reinforcement-learning simulation humanoid isaac-gym

UpdatedFeb 8, 2025
Python

isri-aist /BaselineWalkingController

Star139

Humanoid walking controller with various baseline methods

robotics controller walking humanoid legged-robots bipedal-robots

UpdatedFeb 4, 2025
C++

ROBOTIS-GIT /ROBOTIS-OP3

Star124

ROS packages for the ROBOTIS OP3

package robot ros dynamixel op3 humanoid robotis

UpdatedFeb 26, 2025
C++

ZhengyiLuo /SimXR

Star96

Official Implementation of the CVPR 2024 highlight paper: Real-Time Simulated Avatar from Head-Mounted Sensors

control simulation mixed-reality humanoid isaacgym

UpdatedAug 21, 2024
Python

KlabCMU /KinPoly

Star82

Official implementation of NeurIPS 2021 paper: "Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimation". This repo contains a copy of the code for "Universal Humanoid Controller" and "Kinematic Policy".

physics-simulation humanoid humanoid-control