Zipeng Fu

dex-retargeting. Various retargeting optimizers to translate human hand motion to robot hand motion.

micro_diffusion. Official repository for our work on micro-budget training of large-scale diffusion models.

pupper_image_builder. An automated OS image builder for the Pupper robot.

rlbase_stable. Python

Foundations-of-Robotics. Learn fundamental knowledge in robotics

OpenGrip. a simple, low cost, robotics gripper

parkour. [CoRL 2023] Robot Parkour Learning

Cerberus. Visual-Inertial-Leg Odometry For Legged Robots

EmbodiedPose. Official implementation of NeurIPS 2022 paper: "Embodied Scene-aware Human Pose Estimation".

Awesome-Video-Datasets. Video datasets

RWKV-LM. RWKV (pronounced RwaKuv) is an RNN with great LLM performance, which can also be directly trained like a GPT transformer (parallelizable). We are at RWKV-7 "Goose". So it's combining the best of RNN and transformer - great performance, linear time, constant space (no kv-cache), fast training, infinite ctx_len, and free sentence embedding.

rlpd. Python

SegmentAnything3D. [ICCV'23 Workshop] SAM3D: Segment Anything in 3D Scenes

SAM-3D-Selector. Utilizing segment-anything to help the region selection of 3D point cloud or mesh.

Grounded-Segment-Anything. Grounded SAM: Marrying Grounding DINO with Segment Anything & Stable Diffusion & Recognize Anything - Automatically Detect , Segment and Generate Anything

pbrs-humanoid. Python

isaacgym-stubs. Isaac Gym Python Stubs for Code Completion

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

tiny-diffusion. A minimal PyTorch implementation of probabilistic diffusion models for 2D datasets.

hlb-CIFAR10. Train to 94% on CIFAR-10 in <6.3 seconds on a single A100. Or ~95.79% in ~110 seconds (or less!)

pybullet_rendering. External rendering for PyBullet

easy_handeye. Automated, hardware-independent Hand-Eye Calibration

ManipulationOnTheMove. Generic architecture for performing mobile manipulation on the move.

fairo. A modular embodied agent architecture and platform for building embodied agents

relay-policy-learning. Python

xacro2urdf. Parser for xacro to urdf.

ravens. Train robotic agents to learn pick and place with deep learning for vision-based manipulation in PyBullet. Transporter Nets, CoRL 2020.

pybullet-kinematics-dynamics-control. A simple code to do kinematics, dynamics and control of robots in PyBullet

robot_descriptions.py. Access 190+ robot descriptions from the main Python robotics frameworks

Awesome-LLM-Robotics. A comprehensive list of papers using large language/multi-modal models for Robotics/RL, including papers, codes, and related websites

hora. In-Hand Object Rotation via Rapid Motor Adaptation (CoRL 2022), and more

rl_games. RL implementations

ros-allegro. ros interface to control allegro hand

manim. A community-maintained Python framework for creating mathematical animations.

manim. Animation engine for explanatory math videos

robotoc. Efficient optimal control solvers for robotic systems.

walk_in_the_park. Python

vision4leg. Toolkit for vision-guided quadrupedal locomotion research

cleanrl. High-quality single file implementation of Deep Reinforcement Learning algorithms with research-friendly features (PPO, DQN, C51, DDPG, TD3, SAC, PPG)

CORL. High-quality single-file implementations of SOTA Offline and Offline-to-Online RL algorithms: AWAC, BC, CQL, DT, EDAC, IQL, SAC-N, TD3+BC, LB-SAC, SPOT, Cal-QL, ReBRAC

legged_control. NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

fairseq-apollo. FairSeq repo with Apollo optimizer

DeepIK. Neural Networks for Inverse Kinematics

motion-planners. Python implementations of several robotic motion planners

OmniIsaacGymEnvs. Reinforcement Learning Environments for Omniverse Isaac Gym

cmu-vision.github.io. HTML

hpipm. High-performance interior-point-method QP and QCQP solvers

stable-diffusion. A latent text-to-image diffusion model

awesome-tips.

theseus. A library for differentiable nonlinear optimization

TD3_BC. Author's PyTorch implementation of TD3+BC, a simple variant of TD3 for offline RL

DexterousHands. This is a library that provides dual dexterous hand manipulation tasks through Isaac Gym

tianshou. An elegant PyTorch deep reinforcement learning library.

WorldOnRails. (ICCV 2021, Oral) RL and distillation in CARLA using a factorized world model

envpool. C++-based high-performance parallel environment execution engine (vectorized env) for general RL environments.

slot-attention-video. Python

pytorch-aarch64. PyTorch wheels (whl) & conda for aarch64 / ARMv8 / ARM64

JoinABLe. JoinABLe: Learning Bottom-up Assembly of Parametric CAD Joints

oscar. Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation

awesome-phd-advice. Collection of advice for prospective and current PhD students

AI4Animation. Bringing Characters to Life with Computer Brains in Unity

cyberdog_motor_sdk. C++

polymetis. Write PyTorch controllers, test them in simulation, and seamlessly transfer to real-time hardware.

differentiable-robot-model. We are implementing differentiable models of robot manipulators, which allows us to learn typically assumed to be known models of robots for control and motion planning.

bridge_data_robot_infra. Python

Cheetah-Software. C++

legged_gym. Isaac Gym Environments for Legged Robots

gbplanner_ros. Graph-based Exploration Planner for Subterranean Environments

continual_world. Python

awesome-lifelong-continual-learning. A list of papers, blogs, datasets and software in the field of lifelong/continual machine learning

metasolve. Python

pysdf. Python library to parse SDF into class hierarchy and export URDF

IsaacGymEnvs. Isaac Gym Reinforcement Learning Environments

cyberdog_misc. C

CyberDog_Ctrl. Python

cyberdog_ros2. ROS 2 packages for CyberDog

phd-master-application-docs. A collection of the application documents I used to apply to universities in the US.

frankapy. Python interface to control Franka Emika Panda Research Robot Arms.

franka-interface. C++ Library for Interfacing with Libfranka and Frankapy

mujoco. Multi-Joint dynamics with Contact. A general purpose physics simulator.

fine-tuning-locomotion. Python

elevation_mapping. Robot-centric elevation mapping for rough terrain navigation

ContactImplicitMPC.jl. Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.

scikit-fmm. scikit-fmm is a Python extension module which implements the fast marching method.

isaacgym-utils. Wrappers and utilities for Nvidia IsaacGym

udpclient. Simple UDP Client Written in C++ (using Boost)

Visual-Navigation-Release. Combining Optimal-Control and Learning for Visual Navigation in Novel Environments

MPNet. Motion Planning Networks

PaddleRobotics. PaddleRobotics is an open-source algorithm library for robots based on Paddle, including open-source parts such as human-robot interaction, complex motion control, environment perception, SLAM positioning, and navigation.

vmsr. Python

realsense-ros. ROS Wrapper for RealSense™ Cameras

autolab_core. Core utilities for Berkeley AutoLab.

librealsense. RealSense SDK

DROID-SLAM. Python

Cheetah-Software. C++

ICRA2021PaperList. ICRA 2021 paper list

MPC-Net. Accompanying code for the publication "MPC-Net: A First Principles Guided Policy Search"

dexterous-gym. Challenging dexterous manipulation environments for RL that extend the hand manipulation environments introduced in OpenAI's Gym

QPLEX. Python

multiagent-particle-envs. Code for a multi-agent particle environment used in the paper "Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments"

warp. Secure and simple terminal sharing

gym-pomdps. Python

B_Pref. Jupyter Notebook

locomotion_simulation. Python

unitree_ros. C++

uniswap-python. 🦄 The unofficial Python client for the Uniswap exchange.

singularity-example. Simple example showing of the features of singularity

attention-is-all-you-need-pytorch. A PyTorch implementation of the Transformer model in "Attention is All You Need".

doodad. A job launching library for docker, EC2, GCP, etc.

ConditionalVAE. Conditional VAE in Tensorflow 2 | Conditional Image Generation | CelebA dataset

PyTorch-VAE. A Collection of Variational Autoencoders (VAE) in PyTorch.

urdfpy. Python parser for URDFs

pybullet-blender-recorder. Python

SciencePlots. Matplotlib styles for scientific plotting

RS-Adversarial-Learning. A curated collection of adversarial attack and defense on recommender systems.

transganformer. Implementation of TransGanFormer, an all-attention GAN that combines the finding from the recent GanFormer and TransGan paper

gilbert. Space-filling curve for rectangular domains or arbitrary size.

hampath. A library for generating random looking Hamiltonian paths on a grid.

gansformer. Generative Adversarial Transformers

NBMiner. GPU Miner for ETH, RVN, BEAM, CFX, ZIL, AE, ERGO

lolMiner-releases.

pytorch-a2c-ppo-acktr-gail. PyTorch implementation of Advantage Actor Critic (A2C), Proximal Policy Optimization (PPO), Scalable trust-region method for deep reinforcement learning using Kronecker-factored approximation (ACKTR) and Generative Adversarial Imitation Learning (GAIL).

Minigrid. Simple and easily configurable grid world environments for reinforcement learning

lmconv. Code for UAI 2020 paper "Locally Masked Convolution for Autoregressive Models"

wandb. The AI developer platform. Use Weights & Biases to train and fine-tune models, and manage models from experimentation to production.

github1s. One second to read GitHub code with VS Code.

DeepRLHacks. Hacks for training RL systems from John Schulman's lecture at Deep RL Bootcamp (Aug 2017)

FinRL. FinRL®: Financial Reinforcement Learning. 🔥

ElegantRL. Massively Parallel Deep Reinforcement Learning. 🔥

eigengdb. GDB pretty printers for eigen types

ml-visuals. 🎨 ML Visuals contains figures and templates which you can reuse and customize to improve your scientific writing.

mushroom-rl. Python library for Reinforcement Learning.

awesome-implicit-representations. A curated list of resources on implicit neural representations.

awesome-NeRF. A curated list of awesome neural radiance fields papers

MAVEN. Submission for MAVEN: Multi-Agent Variational Exploration

TCN. Sequence modeling benchmarks and temporal convolutional networks

learning_quadrupedal_locomotion_over_challenging_terrain_supplementary. Supplementary materials for "Learning Locomotion over Challenging Terrain"

aria2. aria2 is a lightweight multi-protocol & multi-source, cross platform download utility operated in command-line. It supports HTTP/HTTPS, FTP, SFTP, BitTorrent and Metalink.

PythonRobotics. Python sample codes and textbook for robotics algorithms.

softgym. SoftGym is a set of benchmark environments for deformable object manipulation.

motion_imitation. Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"

robogym. Robotics Gym Environments

libratbag. A DBus daemon to configure input devices, mainly high-end and gaming mice

fancontrol-gui. GUI for Fancontrol. It uses the KAuth module of the KDE Frameworks 5 to write the generated config file. Furthermore it communicates with systemd via dbus to control the fancontrol service. If you want to compile without systemd support set the -DNO_SYSTEMD option.

raisimpy. Raisimpy: Python wrappers for RaiSim

raisimLib. RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

raisimLib. Visit www.raisim.com

rlkit. Collection of reinforcement learning algorithms

learning-tsp. Code for the paper 'Learning TSP Requires Rethinking Generalization' (CP 2021)

combopt-zero. A reinforcement learning based solver for combinatorial problems

academy. Ray tutorials from Anyscale

pytorch-lightning. Pretrain, finetune ANY AI model of ANY size on 1 or 10,000+ GPUs with zero code changes.

ray. Ray is an AI compute engine. Ray consists of a core distributed runtime and a set of AI Libraries for accelerating ML workloads.

stable-baselines3. PyTorch version of Stable Baselines, reliable implementations of reinforcement learning algorithms.

gym-panda. An OpenAI Gym Env for Panda

franka_sim. Franka panda mujoco models

tensorforce. Tensorforce: a TensorFlow library for applied reinforcement learning

pybullet-gym. Open-source implementations of OpenAI Gym MuJoCo environments for use with the OpenAI Gym Reinforcement Learning Research Platform.

pyrobolearn. PyRoboLearn: a Python framework for Robot Learning

awesome-multimodal-ml. Reading list for research topics in multimodal machine learning

MARL-Algorithms. Implementations of IQL, QMIX, VDN, COMA, QTRAN, MAVEN, CommNet, DyMA-CL, and G2ANet on SMAC, the decentralised micromanagement scenario of StarCraft II

awesome-robotic-tooling. Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace.

machine-learning-systems-design. A booklet on machine learning systems design with exercises. NOT the repo for the book "Designing Machine Learning Systems", which is `dmls-book`

stable-baselines. A fork of OpenAI Baselines, implementations of reinforcement learning algorithms

mujoco-py. MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python 3.

rl-baselines-zoo. A collection of 100+ pre-trained RL agents using Stable Baselines, training and hyperparameter optimization included.

bullet3. Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

smac. SMAC: The StarCraft Multi-Agent Challenge

pysc2. StarCraft II Learning Environment

open_spiel. OpenSpiel is a collection of environments and algorithms for research in general reinforcement learning and search/planning in games.

pymarl. Python Multi-Agent Reinforcement Learning framework

MARL-Papers. Paper list of multi-agent reinforcement learning (MARL)

emergent_comm_rl. Reproducing the reinforcement learning models used in "Emergence of Linguistic Communication from Referential Games with Symbolic and Pixel Input"

QuadDIRECT.jl. Global optimization without derivatives

MultilevelCoordinateSearch.jl. Global optimization without derivatives

madios. My implementation of the ADIOS algorithm

awesome-datascience. :memo: An awesome Data Science repository to learn and apply for real world problems.