Repository Index

The ROSPlan framework provides a generic method for task planning in a ROS system.

• ros

Open-source embodied agent framework: execution, feedback, and continual improvement

• agent-harness
• ai-agents
• continual-learning
• embodied-ai

Python parser for URDFs

• ros
• urdf-visualizer
• urdf-descriptions
• urdf-models

SuperMimic-UniLab: An Independent reproduction of SuperMimic on UniLab for whole-body humanoid motion tracking.

• amd
• motrixsim
• mujoco
• rocm

This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

• fiducial-markers
• lidar
• point-clouds
• cassie

The first exam for code agents in the physical world: frozen robot tasks from many benchmark suites, each answered with a program and verified in a separate sandbox. Runs on Harbor.

• ai-agents
• benchmark
• coding-agents
• embodied-ai

Whole-body motion tracking for the Unitree G1 in about 3 minutes on one GPU.

• humanoid-robotics
• lafan1
• mjlab
• motion-tracking

A high-performance, general-purpose toolkit for versatile robotic tasks.

• inverse-kinematics
• model-predictive-control
• motion-planning
• optimization

RAFCON (RMC advanced flow control) uses hierarchical state machines, featuring concurrent state execution, to represent robot programs. It ships with a graphical user interface supporting the creation of state machines and contains IDE like debugging mechanisms. Alternatively, state machines can programmatically be generated using RAFCON's API.

• robotics
• graphical-programming
• state-machine

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

Lightweight, open-source (hardware and software) stereo VIO

Creates gcode for use on drawbots

Translated闪猫造物 (Flashcat Creations) Flashduck — an open-source ESP32-S3 desktop duck robot with six servos, a single animated eye, wide-stance walking and two interaction systems (voice assistant / DuckClaw local agent).

• 3d-printing
• diy
• embedded
• esp-idf

Official Repository of Agentic World Action Models

Catkin package that provides lidar motion undistortion based on an external 6DoF pose estimation input.

Horizon_Highway_Slam Demo in Docker

Robotic fabrication package for the COMPAS Framework.

• compas
• robotics
• architecture
• digital-fabrication

:video_game: Extensible, JavaScript-based driving dashboard framework for the FIRST Robotics Competition.

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.

Official code for "Reinforcement Fine-Tuning of Flow-Matching Policies for Vision-Language-Action Models" (ICRA 2026): Flow Policy Optimization for pi0

• aloha
• flow-matching
• icra2026
• jax

Transformer-SRU LiDAR navigation for Unitree G1: Isaac Lab training, MuJoCo validation, and ROS 2 deployment.

Balancing robot micropython code

Generate random crop fields for Ignition Gazebo