locomotion | Topic | Ecosyste.ms: Repos

Topic: "locomotion"

ShadowfallStudios/ALS-Community

Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes

Language: C++ - Size: 155 MB - Last synced at: 10 days ago - Pushed at: about 1 year ago - Stars: 2,471 - Forks: 608

OpenLoco/OpenLoco

An open source re-implementation of Chris Sawyer's Locomotion

Language: C++ - Size: 18.7 MB - Last synced at: 10 days ago - Pushed at: 10 days ago - Stars: 1,520 - Forks: 164

Sixze/ALS-Refactored

Completely reworked and improved C++ version of Advanced Locomotion System V4.

Language: C++ - Size: 259 MB - Last synced at: 15 days ago - Pushed at: 15 days ago - Stars: 1,178 - Forks: 302

roboterax/humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

Language: Python - Size: 34.3 MB - Last synced at: 4 months ago - Pushed at: 6 months ago - Stars: 1,152 - Forks: 185

ethz-adrl/towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Language: C++ - Size: 5.13 MB - Last synced at: 2 months ago - Pushed at: over 2 years ago - Stars: 987 - Forks: 242

OpenQuadruped/spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

Language: C++ - Size: 843 MB - Last synced at: 2 months ago - Pushed at: almost 3 years ago - Stars: 862 - Forks: 179

naturerobots/mesh_navigation

Mesh Navigation Stack

Language: C++ - Size: 13.9 MB - Last synced at: 18 days ago - Pushed at: 27 days ago - Stars: 647 - Forks: 87

DRCL-USC/Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

Language: C++ - Size: 105 MB - Last synced at: 7 months ago - Pushed at: 7 months ago - Stars: 421 - Forks: 129

gaiyi7788/awesome-legged-locomotion-learning

A curated list of resources relevant to legged locomotion learning of robotics.

Size: 8.27 MB - Last synced at: 7 days ago - Pushed at: about 2 years ago - Stars: 421 - Forks: 43

dojo-sim/Dojo.jl

A differentiable physics engine for robotics

Language: Julia - Size: 613 MB - Last synced at: 11 days ago - Pushed at: 10 months ago - Stars: 348 - Forks: 31

adham-elarabawy/open-quadruped

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

Language: C++ - Size: 80.5 MB - Last synced at: 11 months ago - Pushed at: 11 months ago - Stars: 345 - Forks: 65

Derek-TH-Wang/quadruped_ctrl

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

Language: C++ - Size: 47.7 MB - Last synced at: 23 days ago - Pushed at: about 3 years ago - Stars: 342 - Forks: 80

iit-DLSLab/Quadruped-PyMPC

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

Language: Python - Size: 44.5 MB - Last synced at: 7 days ago - Pushed at: 7 days ago - Stars: 339 - Forks: 35

idanarye/bevy-tnua

A floating character controller for Bevy

Language: Rust - Size: 1.43 MB - Last synced at: 2 months ago - Pushed at: 3 months ago - Stars: 331 - Forks: 34

leggedrobotics/xpp

Visualization of Motions for Legged Robots in ros-rviz

Language: C++ - Size: 118 MB - Last synced at: 2 months ago - Pushed at: over 3 years ago - Stars: 330 - Forks: 98

upkie/upkie

Open-source wheeled biped robots

Language: C++ - Size: 4.73 MB - Last synced at: 7 days ago - Pushed at: 12 days ago - Stars: 269 - Forks: 38

huangwl18/modular-rl

[ICML 2020] PyTorch Code for "One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control"

Language: Jupyter Notebook - Size: 4.26 MB - Last synced at: 3 months ago - Pushed at: over 2 years ago - Stars: 230 - Forks: 35

RatInABox-Lab/RatInABox

A python package for simulating movement and spatial cell types (e.g. place cells, grid cells) in continuous environments.

Language: Python - Size: 658 MB - Last synced at: about 2 months ago - Pushed at: about 2 months ago - Stars: 229 - Forks: 39

stephane-caron/pymanoid 📦

Humanoid robotics prototyping environment based on OpenRAVE

Language: Python - Size: 2.39 MB - Last synced at: 13 days ago - Pushed at: over 1 year ago - Stars: 229 - Forks: 40

MarkFzp/Deep-Whole-Body-Control

[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

Language: Python - Size: 51.7 MB - Last synced at: 4 months ago - Pushed at: over 1 year ago - Stars: 204 - Forks: 25

microsoft/MoCapAct

A Multi-Task Dataset for Simulated Humanoid Control

Language: Python - Size: 546 KB - Last synced at: about 4 hours ago - Pushed at: 4 months ago - Stars: 194 - Forks: 22

AitorSimona/Traverser

A player traversal toolkit for Unity.

Language: C# - Size: 2.15 GB - Last synced at: 3 months ago - Pushed at: almost 4 years ago - Stars: 189 - Forks: 17

dojo-sim/ContactImplicitMPC.jl

Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.

Language: Julia - Size: 837 MB - Last synced at: 11 days ago - Pushed at: over 2 years ago - Stars: 142 - Forks: 15

NxRoot/ALSV4-Metahumans

UE5 - Advanced Locomotion System (Replicated)

Size: 226 MB - Last synced at: 4 months ago - Pushed at: about 1 year ago - Stars: 134 - Forks: 31

manumerous/wb_humanoid_mpc

Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control

Language: C++ - Size: 21.6 MB - Last synced at: 5 days ago - Pushed at: 5 days ago - Stars: 125 - Forks: 29

HybridRobotics/prompt2walk

Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969

Language: Python - Size: 3.92 MB - Last synced at: about 2 months ago - Pushed at: almost 2 years ago - Stars: 105 - Forks: 10

leggedrobotics/vitruvio

Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effectors track an input trajectory and the necessary joint speed, torque, power and energy for the tracking is computed.

Language: MATLAB - Size: 361 MB - Last synced at: 23 days ago - Pushed at: almost 5 years ago - Stars: 94 - Forks: 22

MichaelMarav/ProbabilisticContactEstimation

Probabilistic Contact State Estimation for Legged Robots in ROS

Language: Python - Size: 13.4 MB - Last synced at: 8 months ago - Pushed at: 8 months ago - Stars: 61 - Forks: 7

junhyeokahn/PyPnC

Python Implementation of Planning and Control

Language: C++ - Size: 51.1 MB - Last synced at: 3 days ago - Pushed at: over 1 year ago - Stars: 57 - Forks: 13

iit-DLSLab/mpx

Model Predictive Control in JAX

Language: Python - Size: 27.1 MB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 51 - Forks: 0

apexrl/awesome-rl-for-legged-locomotion

A curated list of awesome material on legged robot locomotion using reinforcement learning (RL) and sim-to-real techniques.

Size: 16.6 KB - Last synced at: 17 days ago - Pushed at: 4 months ago - Stars: 50 - Forks: 3

NeLy-EPFL/NeuroMechFly 📦

A neuromechanical model of adult Drosophila melanogaster.

Language: Python - Size: 519 MB - Last synced at: 9 days ago - Pushed at: 10 months ago - Stars: 48 - Forks: 2

MoonMotionProject/MoonMotion

Moon Motion Toolkit - Free and open source toolkit for VR locomotion

Language: C# - Size: 418 MB - Last synced at: 3 months ago - Pushed at: over 2 years ago - Stars: 48 - Forks: 5

iit-DLSLab/gym-quadruped

Mujoco Gym environment for the control of quadruped robots

Language: Python - Size: 29.3 MB - Last synced at: 3 days ago - Pushed at: 3 days ago - Stars: 46 - Forks: 13

DanielRBowen/UE-VRHands-Template

This is an Unreal Engine 5 template for VR Headsets with motion controllers. It features dynamic hands, touch screens, grabbable objects, and locomotion.

Size: 183 MB - Last synced at: over 2 years ago - Pushed at: over 3 years ago - Stars: 39 - Forks: 9

iit-DLSLab/DWMPC

A distributed whole-body model predictive control for quadruped robots

Language: C - Size: 97.8 MB - Last synced at: 4 months ago - Pushed at: 4 months ago - Stars: 35 - Forks: 1

antonilo/vision_locomotion

Project Code for the paper "Learning Visual Locomotion with Cross-Modal Supervision" (ICRA2023)

Language: C++ - Size: 513 MB - Last synced at: almost 2 years ago - Pushed at: almost 2 years ago - Stars: 33 - Forks: 8

UBCMOCCA/SymmetricRL

Repo for "On Learning Symmetric Locomotion"

Language: Jupyter Notebook - Size: 525 KB - Last synced at: almost 2 years ago - Pushed at: about 5 years ago - Stars: 33 - Forks: 10

BitsRobocon/Quadruped-DIPLOID

Developing a four-legged Quadruped robot 'DIPLOID' with stable walking by reinforced learning on bezier gait and terrain awareness using SLAM technique as a part of long-term project undertaken by Team Robocon. (2019-present)

Language: Python - Size: 11.7 MB - Last synced at: almost 2 years ago - Pushed at: over 4 years ago - Stars: 32 - Forks: 9

thowell/RoboDojo.jl

A differentiable simulator for robotic systems.

Language: Julia - Size: 52.6 MB - Last synced at: 7 days ago - Pushed at: about 3 years ago - Stars: 31 - Forks: 4

nvidia-isaac/SWAGGER

SWAGGER: Sparse WAypoint Graph Generation for Efficient Routing

Language: Python - Size: 166 KB - Last synced at: 4 days ago - Pushed at: 5 days ago - Stars: 28 - Forks: 1

NathanWu7/HumanoidVerse3

An all-in-one project for humanoid robots from locomotion to motion tracking.

Language: Python - Size: 55.9 MB - Last synced at: 9 days ago - Pushed at: 9 days ago - Stars: 26 - Forks: 4

omegafantasy/OpenRDW2

A Redirected Walking Evaluation Toolkit Supporting Multi-user online VR. An extended version of OpenRDW that supports some new features.

Language: C# - Size: 208 MB - Last synced at: 3 months ago - Pushed at: 3 months ago - Stars: 23 - Forks: 3

YogeshPhalak/Simulation-of-the-Snake-locomotion-mechanisms

Implementation of Snake locomotion mechanisms on the derived Simplified Kinematical Model of discrete Snake Robot in MATLAB.

Language: MATLAB - Size: 13.5 MB - Last synced at: almost 2 years ago - Pushed at: almost 5 years ago - Stars: 22 - Forks: 8

chengruiz/QuadrupedRL

Agile Quadruped Locomotion RL based on bullet

Language: Python - Size: 21.4 MB - Last synced at: 2 months ago - Pushed at: about 3 years ago - Stars: 21 - Forks: 2

pietrodardano/RL_Dog

RL for Walk and Stop for quadruped legged robot (AlienGo - Unitree) + Examples. PPO (SKRL), DDPG (SKRL, SB3), TD3 (SB3).

Language: Python - Size: 1.2 GB - Last synced at: 3 days ago - Pushed at: 4 days ago - Stars: 20 - Forks: 1

WindVChen/Sitcom-Crafter

A system for generating diverse, physically compliant 3D human motions across multiple motion types, guided by plot contexts to streamline creative workflows in anime and game design.

Language: Python - Size: 312 MB - Last synced at: 6 months ago - Pushed at: 6 months ago - Stars: 20 - Forks: 3

moribots/plen_ml_walk

A PLEN2 Robot learns to walk using Twin-Delayed Deep Deterministic Policy Gradient in Gazebo and PyBullet with a custom OpenAI Gym interface

Language: Python - Size: 455 MB - Last synced at: over 2 years ago - Pushed at: over 5 years ago - Stars: 18 - Forks: 8

nimazareian/quadruped-rl-locomotion

Train quadruped locomotion using reinforcement learning in Mujoco

Language: Jupyter Notebook - Size: 45.8 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 17 - Forks: 1

adamspierer/FreeClimber

FreeClimber is a background-subtracting particle detection platform designed to quantify group climbing performance in a Drosophila negative geotaxis (climbing) assay

Language: Python - Size: 104 MB - Last synced at: 14 days ago - Pushed at: about 1 year ago - Stars: 17 - Forks: 6

luuleitner/deepMTJ

Automatic muscle tendon junction tracking using deep learning 🦵🏼

Language: Python - Size: 42.1 MB - Last synced at: about 1 year ago - Pushed at: over 1 year ago - Stars: 16 - Forks: 0

Alexyskoutnev/Quadruped-Trajectory-Optimization-Stack

Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.

Language: Python - Size: 793 MB - Last synced at: over 1 year ago - Pushed at: almost 2 years ago - Stars: 15 - Forks: 4

baggepinnen/DynamicMovementPrimitives.jl

Learning Dynamic Movement Primitives in Julia

Language: Julia - Size: 216 KB - Last synced at: about 2 months ago - Pushed at: 11 months ago - Stars: 14 - Forks: 11

thowell/rs

A simple JAX-based implementation of random search for locomotion tasks using MuJoCo XLA (MJX).

Language: Python - Size: 3.43 MB - Last synced at: 4 months ago - Pushed at: about 1 year ago - Stars: 12 - Forks: 0

upkie/mpc_balancer

Model predictive control to balance Upkie wheeled bipeds

Language: Python - Size: 183 KB - Last synced at: about 2 months ago - Pushed at: about 2 months ago - Stars: 11 - Forks: 0

18r441m/CSCE274

Robotics Applications and Design

Size: 914 KB - Last synced at: almost 2 years ago - Pushed at: almost 2 years ago - Stars: 11 - Forks: 7

YukiShirai/conpt

C++/python codes for contact-rich trajectory optimization.

Language: C++ - Size: 57.6 KB - Last synced at: about 2 months ago - Pushed at: over 2 years ago - Stars: 11 - Forks: 1

RajPShinde/Footstep_Affordance

ROS package for creating a terrain cost map using RGBD Camera for locomotion of legged Robots.

Language: C++ - Size: 13.5 MB - Last synced at: almost 2 years ago - Pushed at: over 4 years ago - Stars: 11 - Forks: 3

leggedrobotics/rl-blindloco

Project page for Science Robotics paper "Learning Quadrupedal Locomotion over Challenging Terrain"

Language: HTML - Size: 65.6 MB - Last synced at: 5 months ago - Pushed at: over 4 years ago - Stars: 11 - Forks: 5

DigitalDiceworks/ddw-locomotion-system

Digitial Diceworks Locomotion System is a way of moving around in virtual space that uses everyday initial motions.

Language: C# - Size: 35.4 MB - Last synced at: over 2 years ago - Pushed at: about 6 years ago - Stars: 11 - Forks: 0

Derek-TH-Wang/hybrid_gait

RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.

Language: C++ - Size: 16.6 MB - Last synced at: over 1 year ago - Pushed at: about 3 years ago - Stars: 10 - Forks: 2

YeZhao/phase-space-planner-locomotion

Robust phase space planning of legged locomotion over rough terrain

Language: Matlab - Size: 17.2 MB - Last synced at: about 2 months ago - Pushed at: almost 7 years ago - Stars: 9 - Forks: 3

leejeonghun/LyraLocomotionCpp

Locomotion migrated from Lyra

Language: C++ - Size: 11 MB - Last synced at: 3 months ago - Pushed at: over 1 year ago - Stars: 8 - Forks: 0

Omnifinity/Unity-SteamVR-API

Official Unity API for use with the Omnideck and HTC Vive SteamVR

Language: C# - Size: 90.9 MB - Last synced at: about 2 years ago - Pushed at: about 2 years ago - Stars: 8 - Forks: 3

GiulioRomualdi/romualdi-phd-thesis

Online Control of Humanoid Robot Locomotion. Giulio Romualdi's PhD Thesis

Language: TeX - Size: 50.9 MB - Last synced at: 4 months ago - Pushed at: almost 3 years ago - Stars: 8 - Forks: 0

iit-DLSLab/locomotion-viewer

An Eigen tool to visualize in Rviz locomotion-related geometric objects

Language: C++ - Size: 72.3 KB - Last synced at: about 2 years ago - Pushed at: almost 5 years ago - Stars: 8 - Forks: 3

alpc91/SGRL

[ICML 2023 Oral] Official environments and implementations for "Subequivariant Graph Reinforcement Learning in 3D Environments"

Language: Python - Size: 85.7 MB - Last synced at: about 2 years ago - Pushed at: about 2 years ago - Stars: 7 - Forks: 1

VRatPolito/LET-VR

The Locomotion Evaluation Testbed VR (or LET-VR) is a tool which helps to select the best suitable locomotion technique to adopt in a given VR application scenario.

Language: C# - Size: 597 MB - Last synced at: almost 2 years ago - Pushed at: almost 3 years ago - Stars: 7 - Forks: 2

sgillen/fractal_rl

Code for CORL 2020 paper: Explicitly Encouraging Low Fractional Dimensional Trajectories Via Reinforcement Learning.

Language: Jupyter Notebook - Size: 51.9 MB - Last synced at: over 1 year ago - Pushed at: over 4 years ago - Stars: 7 - Forks: 2

jgraving/pinpoint

pinpoint is a Python library for generating and tracking 2D barcode tags.

Language: Jupyter Notebook - Size: 8.79 MB - Last synced at: 16 days ago - Pushed at: about 6 years ago - Stars: 7 - Forks: 6

upkie/ppo_balancer

Train a balancing policy for Upkie by reinforcement learning

Language: Python - Size: 397 KB - Last synced at: 23 days ago - Pushed at: about 2 months ago - Stars: 6 - Forks: 5

3StudioOnline/AGR-Documentation 📦

Source files for plugin documentation (https://3studioonline.github.io/AGR-Documentation)

Language: MDX - Size: 7.19 MB - Last synced at: 7 days ago - Pushed at: 3 months ago - Stars: 6 - Forks: 1

justinmajetich/vr-wheelchair

VR Wheelchair is a wheelchair locomotion rig for virtual reality applications built in Unity.

Language: C# - Size: 288 MB - Last synced at: over 2 years ago - Pushed at: about 4 years ago - Stars: 6 - Forks: 3

thowell/rs.cpp

A multi-threaded C++ implementation of random search for locomotion tasks using MuJoCo.

Language: C++ - Size: 20.2 MB - Last synced at: 4 months ago - Pushed at: about 1 year ago - Stars: 5 - Forks: 0

MonoMotion/Trainer 📦

Train the motion to make your robot move as expected

Language: Python - Size: 459 KB - Last synced at: over 2 years ago - Pushed at: over 6 years ago - Stars: 5 - Forks: 1

KavanBahrami/XRDrag

Size: 11.4 MB - Last synced at: 9 months ago - Pushed at: 9 months ago - Stars: 4 - Forks: 1

tp5uiuc/kinematic_snake

Simulations for snake kinematics with anisotropic friction.

Language: Python - Size: 185 KB - Last synced at: about 2 months ago - Pushed at: over 3 years ago - Stars: 4 - Forks: 0

abdelrahman-h-abdalla/jet-leg Fork of orsoromeo/jet-leg

This package computes the Improved Feasible Region. This is an intersection between the Feasible Region (Orsolino, 2020) and the Reachable Region (a 2D level area representing the CoM reachable workspace). The details are explained in this preprint:

Language: Python - Size: 19.1 MB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 3 - Forks: 1

Ebrahim-Mottaghi-Rezaei/Locomotion

C++ Conversion of Advanced Locomotion System

Language: C++ - Size: 81.2 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 3 - Forks: 3

KuangenZhang/UCSA_HIP

Unsupervised Cross-subject Adaptation for Predicting Human Locomotion Intent

Language: Python - Size: 241 KB - Last synced at: almost 2 years ago - Pushed at: over 5 years ago - Stars: 3 - Forks: 2

kenaycock/Six-Bar-Walking-Mechanism

Walking Mechanism with Straight and Parallel Leg Motion

Language: Mathematica - Size: 868 KB - Last synced at: over 2 years ago - Pushed at: over 7 years ago - Stars: 3 - Forks: 0

EricChen0104/PPO_PyBullet_Minitaur

This project implements a Proximal Policy Optimization (PPO) reinforcement learning agent to train the Minitaur robot to walk in the MinitaurBulletEnv-v0 environment using PyBullet. The agent uses a multilayer perceptron (MLP) to model the policy and value networks and learns to control the robot in a continuous action space.

Language: Python - Size: 7.09 MB - Last synced at: 17 days ago - Pushed at: 18 days ago - Stars: 2 - Forks: 0