Repositories list

• differentiable-growth-distance

  Public
  Differentiable growth distance computation for convex sets

  C++

  •

  Apache License 2.0

  •11 fork•77 stars•00 issues•00 pull requests•Updated Mar 30, 2026Mar 30, 2026

• roverfly

  Public
  🛸 RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems

  Python

  •22 forks•11 star•00 issues•00 pull requests•Updated Mar 11, 2026Mar 11, 2026

• Berkeley-Humanoid-Lite

  Public
  Codebase for Berkeley Humanoid Lite

  Python

  •

  MIT License

  •193193 forks•1.3k1.3k stars•88 issues•00 pull requests•Updated Mar 10, 2026Mar 10, 2026

• motion_tracking_controller

  Public
  C++

  •

  MIT License

  •5353 forks•473473 stars•1010 issues•11 pull request•Updated Mar 6, 2026Mar 6, 2026

• HybridRobotics.github.io

  Public
  HTML

  •00 forks•00 stars•00 issues•00 pull requests•Updated Mar 4, 2026Mar 4, 2026

• MomaGraph

  Public
  [ICLR 2026 Oral] MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Models for Embodied Task Planning

  Python

  •00 forks•1818 stars•22 issues•00 pull requests•Updated Mar 4, 2026Mar 4, 2026

• Berkeley-Humanoid-Lite-Lowlevel

  Public
  A submodule of Berkeley Humanoid Lite Project

  Python

  •2222 forks•3737 stars•00 issues•00 pull requests•Updated Mar 2, 2026Mar 2, 2026

• Ego-VCP

  Public
  Ego-Vision World Model for Humanoid Contact Planning

  Python

  •

  MIT License

  •88 forks•170170 stars•11 issue•00 pull requests•Updated Dec 24, 2025Dec 24, 2025

• whole_body_tracking

  Public
  Python

  •

  MIT License

  •271271 forks•1.9k1.9k stars•2424 issues•11 pull request•Updated Nov 18, 2025Nov 18, 2025

• Berkeley-Humanoid-Lite-Assets

  Public
  A submodule of Berkeley Humanoid Lite Project

  roboticsurdfmjcf

  roboticsurdfmjcf

  Python

  •

  Creative Commons Attribution Share Alike 4.0 International

  •2020 forks•3131 stars•00 issues•00 pull requests•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

  •55 forks•2020 stars•00 issues•00 pull requests•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

  •2323 forks•187187 stars•88 issues•00 pull requests•Updated Apr 14, 2025Apr 14, 2025

• cbf-convex-maps

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

  C++

  •44 forks•1414 stars•00 issues•00 pull requests•Updated Feb 6, 2025Feb 6, 2025

• cassie_rl_walking

  Public
  Python

  •

  Other

  •44 forks•7272 stars•11 issue•00 pull requests•Updated Nov 21, 2024Nov 21, 2024

• depth_cbf

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

  Python

  •33 forks•1818 stars•00 issues•00 pull requests•Updated Nov 12, 2024Nov 12, 2024

• isaac_berkeley_humanoid

  Public
  Python

  •

  Other

  •3131 forks•280280 stars•33 issues•00 pull requests•Updated Oct 12, 2024Oct 12, 2024

• SymmLoco

  Public
  Python

  •22 forks•5858 stars•00 issues•00 pull requests•Updated Oct 11, 2024Oct 11, 2024

• berkeley_humanoid_description

  Public
  OpenSCAD

  •55 forks•4848 stars•00 issues•00 pull requests•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+ 4

  matlabcontrol-theoryclfsafety-criticalcbfcontrol-lyapunov-functionscontrol-barrier-functions

  MATLAB

  •7979 forks•361361 stars•55 issues•00 pull requests•Updated Jun 30, 2024Jun 30, 2024

• car-racing

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

  learningsimulationtrajectory-optimization+ 7

  learningsimulationtrajectory-optimizationnonlinear-optimizationoptimization-algorithmsobstacle-avoidancemodel-predictive-controlcar-racingcasadicontrol-barrier-functions

  Python

  •

  MIT License

  •3737 forks•185185 stars•22 issues•00 pull requests•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

  •11 fork•2121 stars•00 issues•00 pull requests•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

  •00 forks•88 stars•00 issues•00 pull requests•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

  •3535 forks•212212 stars•55 issues•11 pull request•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+ 7

  matlabnonlinear-optimizationquadratic-programmingmodel-predictive-controlipoptsafety-critical-systemsmpc-controlobstacle-avoidance-algorithmcontrol-lyapunov-functionscontrol-barrier-functions

  MATLAB

  •

  MIT License

  •5252 forks•309309 stars•33 issues•33 pull requests•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+ 5

  machine-learningairoboticsmlartificial-intelligencecontrol-systemslocomotionlarge-language-models

  Python

  •1212 forks•117117 stars•00 issues•00 pull requests•Updated Sep 22, 2023Sep 22, 2023

• multiple-quadrotor-flexible-hose

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

  controldynamicsmatlab+ 2

  controldynamicsmatlabsimulationsquadcopter-simulation

  MATLAB

  •99 forks•4242 stars•11 issue•00 pull requests•Updated May 26, 2023May 26, 2023

• ball-and-beam-project

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

  MATLAB

  •1212 forks•55 stars•00 issues•00 pull requests•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

  •44 forks•1212 stars•00 issues•00 pull requests•Updated Mar 11, 2023Mar 11, 2023

• quadruped_nmpc_dcbf_duality

  Public
  C++

  •1818 forks•118118 stars•00 issues•00 pull requests•Updated Jan 2, 2023Jan 2, 2023

• GenLoco

  Public
  Python

  •

  Apache License 2.0

  •3232 forks•293293 stars•33 issues•00 pull requests•Updated Sep 13, 2022Sep 13, 2022