State estimator for legged robots using Optimization, Kalman filtering, and Learning
☆35Apr 9, 2024Updated last year
Alternatives and similar repositories for OptiState
Users that are interested in OptiState are comparing it to the libraries listed below
Sorting:
- Papers related to Legged locomotion☆18Oct 16, 2024Updated last year
- Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing☆89Oct 2, 2025Updated 5 months ago
- ☆21Mar 3, 2025Updated last year
- ☆11Oct 13, 2022Updated 3 years ago
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆29Updated this week
- Probabilistic Contact State Estimation for Legged Robots in ROS☆81Dec 9, 2024Updated last year
- Code for the paper Reactive Landing Controller for Quadruped Robots☆20Aug 30, 2023Updated 2 years ago
- Official Code Repository for DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories☆27Sep 9, 2025Updated 6 months ago
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆182Apr 14, 2025Updated 11 months ago
- A Dynamic-Aware LIO Framework Via Spatio-Temporal Normal Analysis☆66Oct 28, 2025Updated 4 months ago
- This project contains a framework that allows the quadruped robot to explore and adapt to the open wild environment in a safe manner.☆52Dec 26, 2025Updated 2 months ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆70May 31, 2023Updated 2 years ago
- A unified, AI agent-friendly SDK for the Unitree Go2W quadruped robot that enables seamless integration of perception, planning, and cont…☆34Oct 15, 2025Updated 5 months ago
- ☆178Dec 23, 2023Updated 2 years ago
- ☆78Aug 29, 2023Updated 2 years ago
- Code and benchmark release for paper: GenTe: Generative Real-world Terrains for General Legged Robot Locomotion Control☆35Jul 13, 2025Updated 8 months ago
- An IsaacLab extension from DLS for basic locomotion tasks on multiple quadruped robots, featuring sim-to-sim and sim-to-real pipelines al…☆56Updated this week
- Reverse Curriculum RL approach for robodog climbing on a skateboard☆33Nov 2, 2025Updated 4 months ago
- Pytorch Implementation of TinyMPC☆63Jan 17, 2024Updated 2 years ago
- A precise low-drift Visual-Inertial-Leg Odometry for legged robots☆100Nov 29, 2023Updated 2 years ago
- Code for our ICRA 2024 paper on learning diverse skills☆26Apr 6, 2024Updated last year
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆25Feb 27, 2024Updated 2 years ago
- Contact estimation for quadruped robots.☆111Nov 5, 2021Updated 4 years ago
- ☆81Nov 13, 2025Updated 4 months ago
- A legged robots learning library based on IsaacLab☆33Feb 20, 2025Updated last year
- phase-based Observations, Rewards, Coupling Ablation☆51Mar 7, 2024Updated 2 years ago
- 多足机器人MPC控制器+仿真环境☆13Feb 15, 2023Updated 3 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆52Feb 19, 2023Updated 3 years ago
- CANdle - a library for using USB-FDCAN dongle and communicating with md80 drives☆15Sep 15, 2025Updated 6 months ago
- ☆27Jul 14, 2025Updated 8 months ago
- A LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation☆40Aug 6, 2024Updated last year
- Learning multiple gaits of quadruped robot using hierarchical reinforcement learning☆53Apr 15, 2022Updated 3 years ago
- Verifying and synthesizing compatible Control Lyapunov Function (CLF) and Control Barrier Function (CBF)☆25Jun 3, 2025Updated 9 months ago
- This repository contains papers in the field of legged robots.☆78Feb 14, 2026Updated last month
- terrain-robustness benchmark for legged locomotion☆71Jan 19, 2023Updated 3 years ago
- [ICRA 2025] Official Implementation of "Robust Robot Walker: Learning Agile Locomotion over Tiny Traps"☆83Apr 28, 2025Updated 10 months ago
- Project code.☆27Feb 5, 2025Updated last year
- ROS2 package to visualize .pcd file and .osm file (openstreetmap) and to convert .osm file to occupancy map☆16Aug 3, 2023Updated 2 years ago
- RL code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆30Oct 31, 2023Updated 2 years ago