Model-based design and verification for robotics.
- robotics
- drake
Repository Index
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A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
- robotics
- dynamics
- analytical-derivatives
- kinematics
The Open Motion Planning Library (OMPL)
- motion-planning
- robotics
:zap: The Mobile Robot Programming Toolkit (MRPT)
- mrpt
- c-plus-plus
- mobile-robotics
- slam
:robot: The MoveIt motion planning framework
Hybrid A* Path Planner for the KTH Research Concept Vehicle
- motion-planning
- planning-algorithms
- robotics
Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
- trajectory-generation
- robotics
- jerk-constrained
- time-optimal
robotic motion planning library
- robotics-algorithms
- topp
- motion-planning
- robotics
Deepdrive is a simulator that allows anyone with a PC to push the state-of-the-art in self-driving
- self-driving-car
- tensorflow
- reinforcement-learning
- unreal-engine
Open Robotics Automation Virtual Environment: An environment for testing, developing, and deploying robotics motion planning algorithms.
Independent reproduction of SuperMimic (arXiv:2610.28480) on mjlab/MuJoCo Warp, written from the paper before the official release. For the authors' code see HybridRobotics/supermimic. Kept as a record: experiment log, full BONES-SEED results, checkpoint.
- humanoid
- mjlab
- motion-tracking
- mujoco
Motion-primitives Based Planner for Fast & Agile Exploration
HALO: Perceptive Humanoid Motion from Simulation
SuperMimic-UniLab: An Independent reproduction of SuperMimic on UniLab for whole-body humanoid motion tracking.
- amd
- motrixsim
- mujoco
- rocm
Artificial Intelligence for Kinematics, Dynamics, and Optimization
Whole-body motion tracking for the Unitree G1 in about 3 minutes on one GPU.
- humanoid-robotics
- lafan1
- mjlab
- motion-tracking
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.
Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
- robotics
- quadrotor
- trajectory-optimization
- motion-planning
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
A high-performance, general-purpose toolkit for versatile robotic tasks.
- inverse-kinematics
- model-predictive-control
- motion-planning
- optimization
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.
Pen plotter built entirely of lego elements including motors and controller. Programmed with PyBricks and Python.