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@LeCAR-Lab LeCAR Lab at CMU

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    22 repositories

    • LeCAR-Lab.github.io

      Public
      HTML
      •0•7•0•0•Updated Aug 1, 2025Aug 1, 2025

    • FALCON

      Public
      Official implementation of "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"
      humanoidloco-manipulation
      Python
      •
      MIT License
      •14•180•2•0•Updated Jul 22, 2025Jul 22, 2025

    • flying_hand

      Public
      Repo for flying_hand hexascorpion project
      JavaScript
      •1•0•0•0•Updated Jun 22, 2025Jun 22, 2025

    • Flying-Hand

      Public
      0•2•1•0•Updated Jun 22, 2025Jun 22, 2025

    • HumanoidVerse

      Public
      Python
      •
      MIT License
      •23•339•6•0•Updated Jun 12, 2025Jun 12, 2025

    • ASAP

      Public
      Official implementation of "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"
      Python
      •
      MIT License
      •122•1.3k•43•1•Updated Jun 5, 2025Jun 5, 2025

    • SoFTA

      Public
      4•53•1•0•Updated Jun 3, 2025Jun 3, 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 sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.
      mpcoptimal-controldiffusionhumanoidlegged-robotsquadrupedonline-controlsampling-based-control
      Python
      •
      Apache License 2.0
      •90•813•13•2•Updated May 28, 2025May 28, 2025

    • spi-active_

      Public
      Repository for SPI-Active's website
      JavaScript
      •0•1•0•0•Updated May 26, 2025May 26, 2025

    • SPI-Active

      Public
      Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"
      0•85•1•0•Updated May 26, 2025May 26, 2025

    • falcon-humanoid

      Public
      Website of FALCON
      JavaScript
      •1•3•0•0•Updated May 25, 2025May 25, 2025

    • 16831-S25-HW

      Public
      Python
      •6•7•0•0•Updated Apr 1, 2025Apr 1, 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 optimization framework that employs a dynamics model to run the reverse denoising process to generate high-quality trajectories.
      controloptimizationplanningrltrajectory-optimizationdiffusiontrajectorysampling-methodsdiffusion-modelszeroth-order-optimization
      Python
      •
      Apache License 2.0
      •28•269•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 Whole-Body Teleoperation and Learning
      Python
      •78•777•34•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
      •21•125•4•0•Updated Jan 30, 2025Jan 30, 2025

    • wococo

      Public
      Python
      •
      Other
      •13•118•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
      •0•3•0•0•Updated Oct 12, 2024Oct 12, 2024

    • SSML-AC

      Public
      MIT License
      •0•4•1•0•Updated Oct 7, 2024Oct 7, 2024

    • ABS

      Public
      [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
      Python
      •39•438•3•0•Updated Jul 11, 2024Jul 11, 2024

    • SafeDPA

      Public
      Python
      •
      MIT License
      •1•9•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 optimal sampling-based MPC algorithm.
      controldronempcquadrotorsampling-methodszeroth-order-optimization
      Python
      •
      Apache License 2.0
      •9•132•0•0•Updated May 22, 2024May 22, 2024