CoRL2025 UniFP: Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation
☆247Oct 26, 2025Updated 4 months ago
Alternatives and similar repositories for UniFP
Users that are interested in UniFP are comparing it to the libraries listed below
Sorting:
- A legged manipulator framework based on IsaacLab☆137Sep 12, 2025Updated 5 months ago
- ☆34Updated this week
- [CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion☆351Jan 17, 2024Updated 2 years ago
- ☆359Jul 10, 2025Updated 7 months ago
- Learning Robot Locomotion from Diverse Datasets☆15Apr 24, 2025Updated 10 months ago
- ☆239Feb 2, 2026Updated last month
- ☆142Aug 15, 2025Updated 6 months ago
- Code to train a compliant whole-body controller for the Unitree B1 + Z1☆158Sep 27, 2024Updated last year
- A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn☆389Jan 5, 2025Updated last year
- [ICRA 2026] 🌠 DSPv2: Improved Dense Policy for Effective and Generalizable Whole-body Mobile Manipulation☆29Jan 14, 2026Updated last month
- Open Source Code for RA-L 2025 Paper☆63Oct 1, 2025Updated 5 months ago
- Urdf tool☆113Nov 27, 2025Updated 3 months ago
- ☆116Updated this week
- ☆32Nov 7, 2024Updated last year
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆216Dec 28, 2025Updated 2 months ago
- RL code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆30Oct 31, 2023Updated 2 years ago
- A humanoid bipedal walking control repo using NMPC and WBC on ROS2, and simulation with mujoco. Contact: bth@mail.ustc.edu.cn☆36Mar 2, 2025Updated last year
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆940May 28, 2025Updated 9 months ago
- Official Implementation of MoE-Loco: Mixture of Experts for Multitask Locomotion☆34Oct 22, 2025Updated 4 months ago
- Code for SDS: Quadrupedal Skill Synthesis from Single Video Demonstration☆98Aug 5, 2025Updated 6 months ago
- Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots…☆1,150Nov 19, 2025Updated 3 months ago
- Code for controlling a Kinova Gen3 Manipulator via Drake.☆33Sep 20, 2023Updated 2 years ago
- Flow Policy Gradients for Robot Control☆149Feb 4, 2026Updated last month
- [L4DC 2026] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"☆329Dec 9, 2025Updated 2 months ago
- RL Extension Library for Robots, Based on IsaacLab.☆1,477Feb 18, 2026Updated 2 weeks ago
- Train a loco-manipulation dog with RL☆389Aug 15, 2024Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Apr 7, 2025Updated 10 months ago
- [ICCV 2025 Spotlight] DexVLG: Dexterous Vision-Language-Grasp Model at Scale☆49Jul 24, 2025Updated 7 months ago
- VR-based Robot Teleoperation and Data Collection System for Humanoid Whole-Body VLA (Unitree G1)☆159Feb 17, 2026Updated 2 weeks ago
- AnyPos: Automated Task-Agnostic Actions for Bimanual Manipulation☆35Jul 25, 2025Updated 7 months ago
- Codebase for Oracle Guided Multi-mode Policies in Isaac Lab☆23Nov 28, 2025Updated 3 months ago
- MimicLabs: A Scalable Data Collection & Generation Pipeline for Table-top Manipulation☆35Feb 6, 2026Updated 3 weeks ago
- ☆136Oct 24, 2023Updated 2 years ago
- From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots (NeurIPS 2025, Spotlight)☆71Sep 28, 2025Updated 5 months ago
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆179Apr 14, 2025Updated 10 months ago
- [IROS 2025] Generalizable Humanoid Manipulation with 3D Diffusion Policies. Part 1: Train & Deploy of iDP3☆506Jun 16, 2025Updated 8 months ago
- [RSS 2025] Learning Getting-Up Policies for Real-World Humanoid Robots☆206Apr 14, 2025Updated 10 months ago
- A convex MPC locomotion controller implemented in MuJoCo with Unitree Go2 quadruped☆74Feb 19, 2026Updated 2 weeks ago
- Reverse Curriculum RL approach for robodog climbing on a skateboard☆32Nov 2, 2025Updated 4 months ago