Repositories list

• whole_body_tracking

  Public archive
  Python

  •

  MIT License

  •336336 forks in HybridRobotics/whole_body_tracking•2.4k2.4k stars in HybridRobotics/whole_body_tracking•2727 issues in HybridRobotics/whole_body_tracking•11 pull request in HybridRobotics/whole_body_tracking•Updated Oct 16, 2026Oct 16, 2026

• workhorse

  Public
  Project page: Workhorse, learning robust whole-body humanoid loco-manipulation from human data

  JavaScript

  •00 forks in HybridRobotics/workhorse•1616 stars in HybridRobotics/workhorse•00 issues in HybridRobotics/workhorse•00 pull requests in HybridRobotics/workhorse•Updated Oct 9, 2026Oct 9, 2026

• motion_tracking_controller

  Public
  C++

  •

  MIT License

  •5959 forks in HybridRobotics/motion_tracking_controller•547547 stars in HybridRobotics/motion_tracking_controller•1010 issues in HybridRobotics/motion_tracking_controller•11 pull request in HybridRobotics/motion_tracking_controller•Updated Sep 10, 2026Sep 10, 2026

• roverfly

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

  Python

  •22 forks in HybridRobotics/roverfly•66 stars in HybridRobotics/roverfly•00 issues in HybridRobotics/roverfly•00 pull requests in HybridRobotics/roverfly•Updated Sep 6, 2026Sep 6, 2026

• min_phase_cbf

  Public
  Implementation of examples in "When are safety filters safe? On minimum phase conditions of control barrier functions"

  MATLAB

  •11 fork in HybridRobotics/min_phase_cbf•11 star in HybridRobotics/min_phase_cbf•00 issues in HybridRobotics/min_phase_cbf•00 pull requests in HybridRobotics/min_phase_cbf•Updated Jul 22, 2026Jul 22, 2026

• differentiable-growth-distance

  Public
  Differentiable growth distance computation for convex sets

  C++

  •

  Apache License 2.0

  •11 fork in HybridRobotics/differentiable-growth-distance•1111 stars in HybridRobotics/differentiable-growth-distance•00 issues in HybridRobotics/differentiable-growth-distance•00 pull requests in HybridRobotics/differentiable-growth-distance•Updated Mar 30, 2026Mar 30, 2026

• berkeley-humanoid-lite

  Public
  Codebase for Berkeley Humanoid Lite

  berkeley-humanoids

  berkeley-humanoids

  Python

  •

  MIT License

  •318318 forks in HybridRobotics/berkeley-humanoid-lite•2k2k stars in HybridRobotics/berkeley-humanoid-lite•88 issues in HybridRobotics/berkeley-humanoid-lite•00 pull requests in HybridRobotics/berkeley-humanoid-lite•Updated Mar 10, 2026Mar 10, 2026

• HybridRobotics.github.io

  Public
  HTML

  •00 forks in HybridRobotics/HybridRobotics.github.io•00 stars in HybridRobotics/HybridRobotics.github.io•00 issues in HybridRobotics/HybridRobotics.github.io•00 pull requests in HybridRobotics/HybridRobotics.github.io•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 in HybridRobotics/MomaGraph•6868 stars in HybridRobotics/MomaGraph•55 issues in HybridRobotics/MomaGraph•00 pull requests in HybridRobotics/MomaGraph•Updated Mar 4, 2026Mar 4, 2026

• berkeley-humanoid-lite-lowlevel

  Public
  A submodule of Berkeley Humanoid Lite Project

  Python

  •3737 forks in HybridRobotics/berkeley-humanoid-lite-lowlevel•4747 stars in HybridRobotics/berkeley-humanoid-lite-lowlevel•00 issues in HybridRobotics/berkeley-humanoid-lite-lowlevel•00 pull requests in HybridRobotics/berkeley-humanoid-lite-lowlevel•Updated Mar 2, 2026Mar 2, 2026

• Ego-VCP

  Public
  Ego-Vision World Model for Humanoid Contact Planning

  Python

  •

  MIT License

  •77 forks in HybridRobotics/Ego-VCP•205205 stars in HybridRobotics/Ego-VCP•11 issue in HybridRobotics/Ego-VCP•00 pull requests in HybridRobotics/Ego-VCP•Updated Dec 24, 2025Dec 24, 2025

• berkeley-humanoid-lite-assets

  Public
  A submodule of Berkeley Humanoid Lite Project

  roboticsurdfmjcf

  roboticsurdfmjcf

  Python

  •

  Creative Commons Attribution Share Alike 4.0 International

  •3636 forks in HybridRobotics/berkeley-humanoid-lite-assets•4343 stars in HybridRobotics/berkeley-humanoid-lite-assets•00 issues in HybridRobotics/berkeley-humanoid-lite-assets•00 pull requests in HybridRobotics/berkeley-humanoid-lite-assets•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

  •66 forks in HybridRobotics/vo-polytope•2020 stars in HybridRobotics/vo-polytope•00 issues in HybridRobotics/vo-polytope•00 pull requests in HybridRobotics/vo-polytope•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

  •2424 forks in HybridRobotics/DiffuseLoco•201201 stars in HybridRobotics/DiffuseLoco•88 issues in HybridRobotics/DiffuseLoco•00 pull requests in HybridRobotics/DiffuseLoco•Updated Apr 14, 2025Apr 14, 2025

• cbf-convex-maps

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

  C++

  •44 forks in HybridRobotics/cbf-convex-maps•1515 stars in HybridRobotics/cbf-convex-maps•00 issues in HybridRobotics/cbf-convex-maps•00 pull requests in HybridRobotics/cbf-convex-maps•Updated Feb 6, 2025Feb 6, 2025

• cassie_rl_walking

  Public
  Python

  •

  Other

  •44 forks in HybridRobotics/cassie_rl_walking•7575 stars in HybridRobotics/cassie_rl_walking•11 issue in HybridRobotics/cassie_rl_walking•00 pull requests in HybridRobotics/cassie_rl_walking•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 in HybridRobotics/depth_cbf•2222 stars in HybridRobotics/depth_cbf•00 issues in HybridRobotics/depth_cbf•00 pull requests in HybridRobotics/depth_cbf•Updated Nov 12, 2024Nov 12, 2024

• isaac_berkeley_humanoid

  Public
  Python

  •

  Other

  •3232 forks in HybridRobotics/isaac_berkeley_humanoid•297297 stars in HybridRobotics/isaac_berkeley_humanoid•33 issues in HybridRobotics/isaac_berkeley_humanoid•00 pull requests in HybridRobotics/isaac_berkeley_humanoid•Updated Oct 12, 2024Oct 12, 2024

• SymmLoco

  Public
  Python

  •22 forks in HybridRobotics/SymmLoco•6464 stars in HybridRobotics/SymmLoco•00 issues in HybridRobotics/SymmLoco•00 pull requests in HybridRobotics/SymmLoco•Updated Oct 11, 2024Oct 11, 2024

• berkeley_humanoid_description

  Public
  OpenSCAD

  •55 forks in HybridRobotics/berkeley_humanoid_description•5151 stars in HybridRobotics/berkeley_humanoid_description•00 issues in HybridRobotics/berkeley_humanoid_description•00 pull requests in HybridRobotics/berkeley_humanoid_description•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 in HybridRobotics/CBF-CLF-Helper•387387 stars in HybridRobotics/CBF-CLF-Helper•55 issues in HybridRobotics/CBF-CLF-Helper•00 pull requests in HybridRobotics/CBF-CLF-Helper•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

  •3636 forks in HybridRobotics/car-racing•186186 stars in HybridRobotics/car-racing•22 issues in HybridRobotics/car-racing•00 pull requests in HybridRobotics/car-racing•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 in HybridRobotics/ilqr-iterative-tasks•2121 stars in HybridRobotics/ilqr-iterative-tasks•00 issues in HybridRobotics/ilqr-iterative-tasks•00 pull requests in HybridRobotics/ilqr-iterative-tasks•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

  •22 forks in HybridRobotics/PPQL•99 stars in HybridRobotics/PPQL•00 issues in HybridRobotics/PPQL•00 pull requests in HybridRobotics/PPQL•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 in HybridRobotics/cbf•217217 stars in HybridRobotics/cbf•55 issues in HybridRobotics/cbf•11 pull request in HybridRobotics/cbf•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

  •5353 forks in HybridRobotics/NMPC-DCLF-DCBF•325325 stars in HybridRobotics/NMPC-DCLF-DCBF•33 issues in HybridRobotics/NMPC-DCLF-DCBF•33 pull requests in HybridRobotics/NMPC-DCLF-DCBF•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 in HybridRobotics/prompt2walk•120120 stars in HybridRobotics/prompt2walk•00 issues in HybridRobotics/prompt2walk•00 pull requests in HybridRobotics/prompt2walk•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 in HybridRobotics/multiple-quadrotor-flexible-hose•4343 stars in HybridRobotics/multiple-quadrotor-flexible-hose•11 issue in HybridRobotics/multiple-quadrotor-flexible-hose•00 pull requests in HybridRobotics/multiple-quadrotor-flexible-hose•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 in HybridRobotics/ball-and-beam-project•55 stars in HybridRobotics/ball-and-beam-project•00 issues in HybridRobotics/ball-and-beam-project•00 pull requests in HybridRobotics/ball-and-beam-project•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 in HybridRobotics/Iterative-MPC-DHOCBF•1212 stars in HybridRobotics/Iterative-MPC-DHOCBF•00 issues in HybridRobotics/Iterative-MPC-DHOCBF•00 pull requests in HybridRobotics/Iterative-MPC-DHOCBF•Updated Mar 11, 2023Mar 11, 2023