Repositories list

• LeCAR-Lab.github.io

  Public
  HTML

  •0•8•0•0•Updated Feb 19, 2026Feb 19, 2026

• BFM-Zero

  Public

  LeCAR-Lab/BFM-Zero’s past year of commit activity
  BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning

  reinforcement-learningunsupervised-learninghumanoid+ 1

  reinforcement-learningunsupervised-learninghumanoidsim2real

  Python

  •

  Other

  •25•440•5•0•Updated Feb 15, 2026Feb 15, 2026

• falcon-humanoid

  Public
  Website of FALCON

  JavaScript

  •1•4•0•0•Updated Jan 27, 2026Jan 27, 2026

• HDMI

  Public

  LeCAR-Lab/HDMI’s past year of commit activity
  Python

  •34•542•1•0•Updated Jan 17, 2026Jan 17, 2026

• ASAP

  Public

  LeCAR-Lab/ASAP’s past year of commit activity
  [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

  reinforcement-learningroboticshumanoid

  reinforcement-learningroboticshumanoid

  Python

  •

  MIT License

  •186•1.9k•61•1•Updated Jan 6, 2026Jan 6, 2026

• FALCON

  Public
  [L4DC 2026] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"

  humanoidloco-manipulation

  humanoidloco-manipulation

  Python

  •

  MIT License

  •39•333•14•0•Updated Dec 9, 2025Dec 9, 2025

• UMI-on-Air

  Public

  LeCAR-Lab/UMI-on-Air’s past year of commit activity
  UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies

  Python

  •4•37•0•0•Updated Nov 29, 2025Nov 29, 2025

• spi-active_

  Public
  Repository for SPI-Active's website

  JavaScript

  •0•3•0•0•Updated Nov 26, 2025Nov 26, 2025

• SPI-Active

  Public

  LeCAR-Lab/SPI-Active’s past year of commit activity
  Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"

  Python

  •3•173•3•0•Updated Nov 26, 2025Nov 26, 2025

• 16831-F25-HW

  Public
  Assignments for CMU 16-831 Introduction to Robot Learning.

  Python

  •17•25•0•0•Updated Nov 11, 2025Nov 11, 2025

• latex-template

  Public

  LeCAR-Lab/latex-template’s past year of commit activity
  This is a paper template used by CMU LeCAR Lab.

  TeX

  •3•5•0•0•Updated Nov 7, 2025Nov 7, 2025

• flow-diffusion-1d-tutorial

  Public

  LeCAR-Lab/flow-diffusion-1d-tutorial’s past year of commit activity
  A simple 1-d diffusion/flow model tutorial for LeCAR group meeting

  Jupyter Notebook

  •0•16•0•0•Updated Sep 27, 2025Sep 27, 2025

• Flying-Hand

  Public
  0•12•4•0•Updated Sep 19, 2025Sep 19, 2025

• SoFTA

  Public

  LeCAR-Lab/SoFTA’s past year of commit activity
  Python

  •

  MIT License

  •7•121•1•0•Updated Aug 24, 2025Aug 24, 2025

• flying_hand

  Public
  Repo for flying_hand hexascorpion project

  JavaScript

  •1•0•0•0•Updated Jun 22, 2025Jun 22, 2025

• HumanoidVerse

  Public

  LeCAR-Lab/HumanoidVerse’s past year of commit activity
  Python

  •

  MIT License

  •28•438•8•0•Updated Jun 12, 2025Jun 12, 2025

• dial-mpc

  Public
  Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sam…

  mpcoptimal-controldiffusion+ 5

  mpcoptimal-controldiffusionhumanoidlegged-robotsquadrupedonline-controlsampling-based-control

  Python

  •

  Apache License 2.0

  •98•941•13•2•Updated May 28, 2025May 28, 2025

• model-based-diffusion

  Public

  LeCAR-Lab/model-based-diffusion’s past year of commit activity
  Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory opt…

  controloptimizationplanning+ 7

  controloptimizationplanningrltrajectory-optimizationdiffusiontrajectorysampling-methodsdiffusion-modelszeroth-order-optimization

  Python

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  Apache License 2.0

  •31•328•2•1•Updated Mar 27, 2025Mar 27, 2025

• human2humanoid

  Public
  [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Who…

  Python

  •98•963•37•1•Updated Feb 21, 2025Feb 21, 2025

• anycar

  Public
  Official implementation of "AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive Mobility"

  Jupyter Notebook

  •22•136•4•0•Updated Jan 30, 2025Jan 30, 2025

• wococo

  Public
  Python

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  Other

  •13•140•3•1•Updated Nov 7, 2024Nov 7, 2024

• mbd

  Public
  HTML

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  Apache License 2.0

  •0•1•0•0•Updated Oct 19, 2024Oct 19, 2024

• vicon_interface

  Public
  Vicon ROS2 Python Driver

  Python

  •

  GNU Lesser General Public License v3.0

  •1•5•0•0•Updated Oct 12, 2024Oct 12, 2024

• SSML-AC

  Public
  MIT License

  •0•8•2•0•Updated Oct 7, 2024Oct 7, 2024

• ABS

  Public
  [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

  Python

  •43•556•4•0•Updated Jul 11, 2024Jul 11, 2024

• SafeDPA

  Public

  LeCAR-Lab/SafeDPA’s past year of commit activity
  Python

  •

  MIT License

  •1•11•0•0•Updated May 24, 2024May 24, 2024

• CoVO-MPC

  Public
  Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4DC 2024. CoVO-MPC is an…

  controldronempc+ 3

  controldronempcquadrotorsampling-methodszeroth-order-optimization

  Python

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  Apache License 2.0

  •11•139•0•0•Updated May 22, 2024May 22, 2024