Repositories list

• differentiable-growth-distance

  Public
  Differentiable growth distance computation for convex sets

  C++

  •

  Apache License 2.0

  •1•6•0•0•Updated Feb 16, 2026Feb 16, 2026

• HybridRobotics.github.io

  Public
  HTML

  •0•0•0•0•Updated Feb 9, 2026Feb 9, 2026

• Ego-VCP

  Public
  Ego-Vision World Model for Humanoid Contact Planning

  Python

  •

  MIT License

  •8•161•0•0•Updated Dec 24, 2025Dec 24, 2025

• motion_tracking_controller

  Public
  Python

  •

  MIT License

  •43•427•10•0•Updated Nov 21, 2025Nov 21, 2025

• whole_body_tracking

  Public
  Python

  •

  MIT License

  •219•1.7k•20•1•Updated Nov 18, 2025Nov 18, 2025

• Berkeley-Humanoid-Lite

  Public
  Codebase for Berkeley Humanoid Lite

  Python

  •

  MIT License

  •175•1.2k•8•1•Updated Sep 11, 2025Sep 11, 2025

• Berkeley-Humanoid-Lite-Assets

  Public
  A submodule of Berkeley Humanoid Lite Project

  roboticsurdfmjcf

  Python

  •

  Creative Commons Attribution Share Alike 4.0 International

  •18•30•0•0•Updated Sep 7, 2025Sep 7, 2025

• Berkeley-Humanoid-Lite-Lowlevel

  Public
  A submodule of Berkeley Humanoid Lite Project

  Python

  •19•37•0•0•Updated Sep 7, 2025Sep 7, 2025

• vo-polytope

  Public
  Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems (RA-L 2023)

  Python

  •

  MIT License

  •5•19•0•0•Updated Jul 20, 2025Jul 20, 2025

• DiffuseLoco

  Public
  Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets

  Python

  •22•179•8•0•Updated Apr 14, 2025Apr 14, 2025

• cbf-convex-maps

  Public
  A repository for enforcing CBF constraints between strictly convex sets.

  C++

  •4•14•0•0•Updated Feb 6, 2025Feb 6, 2025

• cassie_rl_walking

  Public
  Python

  •

  Other

  •3•67•0•0•Updated Nov 21, 2024Nov 21, 2024

• depth_cbf

  Public
  Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control

  Python

  •3•17•0•0•Updated Nov 12, 2024Nov 12, 2024

• isaac_berkeley_humanoid

  Public
  Python

  •

  Other

  •28•270•3•0•Updated Oct 12, 2024Oct 12, 2024

• SymmLoco

  Public
  Python

  •2•58•0•0•Updated Oct 11, 2024Oct 11, 2024

• berkeley_humanoid_description

  Public
  OpenSCAD

  •5•46•0•0•Updated Aug 23, 2024Aug 23, 2024

• CBF-CLF-Helper

  Public
  Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

  matlabcontrol-theoryclf+ 4safety-criticalcbfcontrol-lyapunov-functionscontrol-barrier-functions

  MATLAB

  •76•355•5•0•Updated Jun 30, 2024Jun 30, 2024

• car-racing

  Public
  A toolkit for testing control and planning algorithm for car racing.

  learningsimulationtrajectory-optimization+ 7nonlinear-optimizationoptimization-algorithmsobstacle-avoidancemodel-predictive-controlcar-racingcasadicontrol-barrier-functions

  Python

  •

  MIT License

  •37•186•2•0•Updated Apr 19, 2024Apr 19, 2024

• ilqr-iterative-tasks

  Public
  i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246

  Python

  •1•21•0•0•Updated Mar 18, 2024Mar 18, 2024

• PPQL

  Public
  Differential flatness based path planning with direct collocation on hybrid modes for a quadrotor with a cable-suspended payload (RA-L 2020)

  MATLAB

  •0•8•0•0•Updated Feb 29, 2024Feb 29, 2024

• cbf

  Public
  An open source repository for control, planning and navigation about control barrier functions.

  Python

  •

  Apache License 2.0

  •35•212•5•1•Updated Feb 22, 2024Feb 22, 2024

• NMPC-DCLF-DCBF

  Public
  A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

  matlabnonlinear-optimizationquadratic-programming+ 7model-predictive-controlipoptsafety-critical-systemsmpc-controlobstacle-avoidance-algorithmcontrol-lyapunov-functionscontrol-barrier-functions

  MATLAB

  •

  MIT License

  •51•305•3•3•Updated Nov 9, 2023Nov 9, 2023

• prompt2walk

  Public
  Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969

  machine-learningairobotics+ 5mlartificial-intelligencecontrol-systemslocomotionlarge-language-models

  Python

  •12•117•0•0•Updated Sep 22, 2023Sep 22, 2023

• multiple-quadrotor-flexible-hose

  Public
  Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control

  controldynamicsmatlab+ 2simulationsquadcopter-simulation

  MATLAB

  •9•41•1•0•Updated May 26, 2023May 26, 2023

• ball-and-beam-project

  Public
  EE222/ME237 Nonlinear Systems, Spring 2022, Starter code for the course project.

  MATLAB

  •12•5•0•0•Updated Apr 14, 2023Apr 14, 2023

• Iterative-MPC-DHOCBF

  Public
  "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, K. Sreenath and C. Belt…

  MATLAB

  •3•12•0•0•Updated Mar 11, 2023Mar 11, 2023

• quadruped_nmpc_dcbf_duality

  Public
  C++

  •18•117•0•0•Updated Jan 2, 2023Jan 2, 2023

• GenLoco

  Public
  Python

  •

  Apache License 2.0

  •31•292•3•0•Updated Sep 13, 2022Sep 13, 2022

• Lane-Change-CBF

  Public archive
  Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change https://arxiv.org/abs/2103.12382

  MATLAB

  •16•105•0•0•Updated Jul 23, 2022Jul 23, 2022

• Quad-Load-Offset

  Public
  "Geometric Control of a Quadrotor with a Load Suspended from an Offset" by J. Zeng and K. Sreenath https://ieeexplore.ieee.org/document/8814939

  MATLAB

  •

  MIT License

  •0•7•1•0•Updated Mar 7, 2022Mar 7, 2022