Whole-body motion tracking for the Unitree G1 in about 3 minutes on one GPU.
- humanoid-robotics
- lafan1
- mjlab
- motion-tracking
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A high-performance, general-purpose toolkit for versatile robotic tasks.
- inverse-kinematics
- model-predictive-control
- motion-planning
- optimization
Ultra-low-cost robotic joint: a $1.5 FOC board inside a 1503 gimbal motor, plus a 3D-printed high-ratio precision gearbox. Cheap power, exact motion.
Whole-body motion tracking for the Unitree G1 in under 3 minutes on average on one GPU: return 0.82 with 0/40 clips failed, held from 2.74 min (mean of 15 seeds, range 2.21-3.61, fine checkpoints), 11.87 it/s (world model + Muon + overlapped CUDA streams, mjlab)
- humanoid
- robot-learning
- supermimic
- world-model
Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
- robotics
- quadrotor
- trajectory-optimization
- motion-planning
A minimal set of agent workflows and tools for robotics
- agentic-robotics
- embodied-ai
- llm-agents
- motion-generation
Catkin package that provides lidar motion undistortion based on an external 6DoF pose estimation input.
Whole-body motion tracking for the Unitree G1 in under a minute. BlinkMimic's world-model trainer rebuilt in JAX, 3.7x faster on four H100s.