Stars
Code for "GVHMR: World-Grounded Human Motion Recovery via Gravity-View Coordinates", Siggraph Asia 2024
Code for "TD-MPC2: Scalable, Robust World Models for Continuous Control"
[CoRL 2025] TWIST: Teleoperated Whole-Body Imitation System
[arXiv 2025] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.
A C++ library for solving nonlinear least squares problems using Gradient Descent, Gauss-Newton and Levenberg-Marquardt solvers
A single header-only C++ library for least squares fitting.
A highly customizable SQP & barrier solver for nonlinearly constrained optimization
Web-based 3D visualization + Python
This repository provide a tool to convert robot urdf file to mjcf.
library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization
A large scale non-linear optimization library
Using error-state Kalman filter to fuse the IMU and GPS data for localization.
A simple implementation of the Levenberg Marquardt algorithm.
automatic differentiation made easier for C++
A Modular Toolkit for Robot Kinematic Optimization
Sphere-Tree Construction Toolkit (unofficial repository)
Allows for communication between MuJoCo and ROS2.
A high-performance runtime framework for modern robotics.
Convert from URDF file format to MJCF file format
Multi-Joint dynamics with Contact. A general purpose physics simulator.
robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments(IROS 2025)