Reinforcement Learning of Optimization-Based Control Policies via Implicit Policy Gradients

Gaussian Process Motion Planner 2

Differentiable signal processing on the sphere for PyTorch

Code of the paper "LS-IQ: Implicit Reward Regularization for Inverse Reinforcement Learning" & LocoMuJoCo Baselines

Residual policy learning

[arxiv 2025] Official implementation of "Towards Adaptable Humanoid Control via Adaptive Motion Tracking"

Official codebase for the paper "How to build a consistency model: Learning flow maps via self-distillation" (NeurIPS 2025).

code for "Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion"

Open Source Code for RA-L 2025 Paper

A tool to convert opensim 4.0+ MSK models into MuJoCo format with optimized muscle kinematics and kinetics

Code for "TD-MPC2: Scalable, Robust World Models for Continuous Control"

Repo for "On Learning Symmetric Locomotion"

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

[RSS 2024]: Expressive Whole-Body Control for Humanoid Robots

Offline to online dHDP for soft exosuit personalized control

code for ICORR 2025 Speed Adaptive Agent paper

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

Contrib package for Stable-Baselines3 - Experimental reinforcement learning (RL) code

Unreal plugin for robot visualisation using ROS connecting with WebSockets.

Free Motion Capture for Everyone 💀✨

Admittance control law to generate desired motion of an end-effector (twist), given a desired or external wrench for a velocity-controlled robot.

A curated list of behavior(al) foundation model (BFM) papers, articles, tutorials, slides and projects