Robot learning frameworks

Open source

Autonomous ground robot project supporting multiple drive configurations.

Open source

A cloud and fog robotics platform using ROS 2.

Open source

Arduino STM32G473VCT6 MCU firmware for OOMWOO I/O board

Open source

A humanoid robot learning framework spanning simulation and deployment.

Open source

RoboGen research code for generating and learning robot skills.

Open source

Utility collection for LeRobot models, datasets, and embodiment extensions.

Open source

Generative Grasping CNN implementation for robotic grasp synthesis.

Open source

Spatial vector algebra implementation using Eigen.

Open source

A simplified URDF description of the ANYmal B quadruped.

Open source

A robot-learning framework for policy learning and skill composition.

Open source

Hardware interfaces and controller infrastructure for ROS 2 robots.

Open source

Server implementations of the rosbridge protocol for ROS integration.

Open source

ROS 2 integration for llama.cpp language models and llava.cpp vision-language models.

Open source

ROS 2 speech recognition using SileroVAD and whisper.cpp.

Open source

A furniture-assembly environment for long-horizon manipulation tasks.

Open source

Research tools for mobile manipulation.

Open source

Replication package of the paper titled "How do you Architect your Robots? State of the Practice and Guidelines for ROS-based Systems" published at ICSE-SEIP 2020

Open source

Motion-planner-augmented RL for manipulation in obstructed environments.

Open source

PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encoders.

Open source

LEO research implementation for a generalist embodied agent in 3D environments.

Open source

A simplified URDF description of the ANYmal C quadruped.

Open source

Behavior-tree library for ROS, with C++ and Python interfaces.

Open source

Official implementation of "Data Scaling Laws in Imitation Learning for Robotic Manipulation"

Open source

🦀 Appearance and scene design for Jumper, an open-source crab robot.