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1. invariant_smoother invariant_smoother Public

   Invariant smoother for legged robot's state estimation.

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2. RL_DEMO RL_DEMO Public

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3. Gazelle_NMPC_controller Gazelle_NMPC_controller Public

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4. DynaFlow DynaFlow Public

   Code for the paper "Dynamics-embedded Flow Matching for Physically Consistent Motion Generation from State-only Demonstrations"

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