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1. shooting-for-contact shooting-for-contact Public

   Simulation-based multiple shooting for dynamically retargeting contact-rich whole-body robot motions.

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2. halo-latent-locomotion halo-latent-locomotion Public

   A framework for learning reduced-order models (ROMs) of legged locomotion dynamics using autoencoders.

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3. SamplingBasedOptimization SamplingBasedOptimization Public

   Sampling based optimization on a variety of robots.

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4. deploy_robot deploy_robot Public

   Deploy code for the Unitree G1 robot.

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5. Spring-LoadedInvertedPendulum Spring-LoadedInvertedPendulum Public

   Playground for the Spring Loaded Inverted Pendulum model

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6. ARCHER_misc ARCHER_misc Public

   place to house random Hopper code

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