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1. terrain-aware-locomotion terrain-aware-locomotion Public

   Terrain-aware locomotion pipeline for quadruped robots - 95% navigation success, 50% fall reduction using depth camera perception, ML terrain classification, and adaptive footstep planning with Mov…

   Python 12 1

2. humanoid-motion-planning humanoid-motion-planning Public

   Whole-body motion planning for Unitree G1 humanoid in MuJoCo - ZMP preview control, A* footstep planning, MPC balance (49% energy reduction), RL locomotion, and Jacobian IK manipulation

   Python 29 5

3. rl-locomotion-cbf rl-locomotion-cbf Public

   Safe reinforcement learning for quadruped locomotion using Control Barrier Functions (CBF) - Zero falls, 99% safety rate, 90% speed retention with provable safety guarantees

   Python 7

4. cooking-humanoid-vla cooking-humanoid-vla Public

   Vision-Language-Action system for humanoid manipulation. Achieves 77% accuracy on real-world cooking videos.

   Python 1

5. vio-footstep-planner vio-footstep-planner Public

   VIO + Footstep Planner for GPS-denied quadruped navigation - 98% success rate, 60% drift reduction, real-time autonomous navigation with loop closure

   Python 2

6. ovla ovla Public

   Universal Vision-Language-Action Transfer through Semantic Primitive Learning

   Python 1