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@LeCAR-Lab LeCAR Lab at CMU

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    27 repositories

    • LeCAR-Lab.github.io

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

    • BFM-Zero

      Public
      BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
      reinforcement-learningunsupervised-learninghumanoidsim2real
      Python
      •
      Other
      •25•433•2•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
      Python
      •34•541•1•0•Updated Jan 17, 2026Jan 17, 2026

    • ASAP

      Public
      [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"
      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
      Python
      •
      MIT License
      •39•331•13•0•Updated Dec 9, 2025Dec 9, 2025

    • UMI-on-Air

      Public
      UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies
      Python
      •4•36•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
      Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"
      Python
      •3•171•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
      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
      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
      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
      Python
      •
      MIT License
      •28•437•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-controldiffusionhumanoidlegged-robotsquadrupedonline-controlsampling-based-control
      Python
      •
      Apache License 2.0
      •97•941•13•2•Updated May 28, 2025May 28, 2025

    • model-based-diffusion

      Public
      Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory opt…
      controloptimizationplanningrltrajectory-optimizationdiffusiontrajectorysampling-methodsdiffusion-modelszeroth-order-optimization
      Python
      •
      Apache License 2.0
      •30•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•959•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
      •
      Other
      •13•139•3•1•Updated Nov 7, 2024Nov 7, 2024

    • mbd

      Public
      HTML
      •
      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•555•4•0•Updated Jul 11, 2024Jul 11, 2024

    • SafeDPA

      Public
      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…
      controldronempcquadrotorsampling-methodszeroth-order-optimization
      Python
      •
      Apache License 2.0
      •11•139•0•0•Updated May 22, 2024May 22, 2024