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@mit-biomimetics MIT Biomimetic Robotics Lab

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    19 repositories

    • DXL_Hand_Board

      Public
      C
      •0•1•0•0•Updated Nov 3, 2025Nov 3, 2025

    • rsl_rl

      Public
      Fast and simple implementation of RL algorithms, designed to run fully on GPU.
      Python
      •
      Other
      •458•2•0•0•Updated Oct 24, 2025Oct 24, 2025

    • IsaacLab

      Public
      Unified framework for robot learning built on NVIDIA Isaac Sim
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •2.8k•3•0•0•Updated Oct 23, 2025Oct 23, 2025

    • urdfdom

      Public
      URDF parser
      C++
      •
      Other
      •145•0•0•0•Updated Oct 11, 2024Oct 11, 2024

    • urdfdom_headers

      Public
      Headers for URDF parsers
      C++
      •
      Other
      •89•3•0•0•Updated Oct 11, 2024Oct 11, 2024

    • osqp

      Public
      The Operator Splitting QP Solver
      C
      •
      Apache License 2.0
      •395•0•0•0•Updated Aug 7, 2024Aug 7, 2024

    • fld

      Public
      Repository for our paper: FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning, Proceedings of the 12th International Conference on Learning Representations (ICLR)
      Python
      •
      Other
      •37•349•0•0•Updated Jun 13, 2024Jun 13, 2024

    • URDF-Parser

      Public
      URDF Parser capable of handling kinematic loops
      C++
      •
      MIT License
      •5•21•0•0•Updated Mar 18, 2024Mar 18, 2024

    • ORCAgym

      Public
      phase-based Observations, Rewards, Coupling Ablation
      Python
      •
      Other
      •11•47•0•1•Updated Mar 7, 2024Mar 7, 2024

    • pkGym

      Public
      Python
      •
      Other
      •1•11•0•0•Updated Feb 26, 2024Feb 26, 2024

    • mujoco

      Public
      Multi-Joint dynamics with Contact. A general purpose physics simulator.
      C++
      •
      Apache License 2.0
      •1.3k•1•0•0•Updated Feb 20, 2024Feb 20, 2024

    • spatial_v2_extended

      Public
      Extended version of Featherstone's spatial_v2 package
      MATLAB
      •32•1•0•0•Updated Jan 20, 2024Jan 20, 2024

    • ThirdParty-HSL

      Public
      Fortran
      •
      Eclipse Public License 1.0
      •1•2•0•0•Updated Dec 19, 2023Dec 19, 2023

    • Cheetah-Software

      Public
      C++
      •
      MIT License
      •1k•3.1k•55•5•Updated Oct 18, 2023Oct 18, 2023

    • 274-labs

      Public
      Template code for 2.74 labs.
      0•0•0•0•Updated Sep 15, 2023Sep 15, 2023

    • lcm

      Public
      Lightweight Communications and Marshalling
      Java
      •
      GNU Lesser General Public License v2.1
      •419•0•0•0•Updated Aug 7, 2023Aug 7, 2023

    • casadi

      Public
      CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
      C++
      •
      GNU Lesser General Public License v3.0
      •423•1•0•0•Updated Aug 3, 2023Aug 3, 2023

    • BayesianOptimization

      Public
      A Python implementation of global optimization with gaussian processes.
      Python
      •
      MIT License
      •1.6k•12•0•0•Updated Feb 15, 2022Feb 15, 2022

    • mit-biomimetics.github.io

      Public
      HTML
      •9•7•0•0•Updated Jul 29, 2019Jul 29, 2019