Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

Nonlinear solver backend for PyTorch

Kino-dynamic optimization algorithm for multiped robots

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

Library for creating smooth cubic splines

Bringing Characters to Life with Computer Brains in Unity

Ethernet examples using LwIP + FreeRTOS for STM32H7 Discovery and Nucleo boards

This repository contains implementations and illustrative code to accompany DeepMind publications

Training a humanoid robot for locomotion using Reinforcement Learning

A library for solving differential equations using neural networks based on PyTorch, used by multiple research groups around the world, including at Harvard IACS.

an intuitive optimization tool tailored to robotics, based on CasADi

FBX Python SDK for Python3.x

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

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

Linux kernel driver for Xbox One and Xbox Series X|S accessories

Utility to convert URDF files to Webots PROTO nodes

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Unified framework for robot learning built on NVIDIA Isaac Sim

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

A conda-smithy repository for rbdl.

library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization

TROPIC: TRajectory OPtimization In CasADi

Fast Robot Optimization and Simulation Toolkit (FROST)

Bug-fix-only libev port of shadowsocks. Future development moved to shadowsocks-rust

Supplementary materials for "Learning Locomotion over Challenging Terrain"

Massively Parallel Deep Reinforcement Learning. 🔥

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

A lightweight framework on top of the Qt scene graph and only few classes from Qt/Quick. It is usable from C++ and/or QML.