Pinned Repositories
ABS
[RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
anycar
Official implementation of "AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive Mobility"
ASAP
[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"
CoVO-MPC
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.
dial-mpc
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.
human2humanoid
[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
HumanoidVerse
model-based-diffusion
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.
SafeDPA
wococo
LeCAR Lab at CMU's Repositories
LeCAR-Lab/ASAP
[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"
LeCAR-Lab/dial-mpc
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.
LeCAR-Lab/human2humanoid
[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
LeCAR-Lab/ABS
[RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
LeCAR-Lab/model-based-diffusion
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.
LeCAR-Lab/HumanoidVerse
LeCAR-Lab/CoVO-MPC
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.
LeCAR-Lab/wococo
LeCAR-Lab/anycar
Official implementation of "AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive Mobility"
LeCAR-Lab/SafeDPA
LeCAR-Lab/16831-S25-HW
LeCAR-Lab/LeCAR-Lab.github.io
LeCAR-Lab/SSML-AC
LeCAR-Lab/vicon_interface
Vicon ROS2 Python Driver
LeCAR-Lab/mbd
LeCAR-Lab/flying_hand
Repo for flying_hand hexascorpion project