Kevin Zakka

mink. Python inverse kinematics based on MuJoCo.

spatial-transformer-network. A Tensorflow implementation of Spatial Transformer Networks.

pytorch-goodies. PyTorch Boilerplate For Research

recurrent-visual-attention. A PyTorch Implementation of "Recurrent Models of Visual Attention"

mjctrl. Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

torchnca. A PyTorch implementation of Neighbourhood Components Analysis.

obj2mjcf. A CLI for processing composite Wavefront OBJ files for use in MuJoCo.

mujoco_scanned_objects. MuJoCo Models for Google's Scanned Objects Dataset

clip_playground. An ever-growing playground of notebooks showcasing CLIP's impressive zero-shot capabilities

torchkit. Research boilerplate for PyTorch.

tsne-viz. Python Wrapper for t-SNE Visualization

ibc. A PyTorch implementation of Implicit Behavioral Cloning

form2fit. [ICRA 2020] Train generalizable policies for kit assembly with self-supervised dense correspondence learning.

blog-code. My blog's code repository.

learn-linalg. Learning some numerical linear algebra.

mjc_viewer. A browser-based 3D viewer for MuJoCo

robopianist-rl. RL code for training piano-playing policies for RoboPianist.

x-magical. [CoRL 2021] A robotics benchmark for cross-embodiment imitation.

torchsdf-fusion. Benchmarking PyTorch variants of TSDF fusion.

mujoco_cube. A 3x3x3 puzzle cube model for MuJoCo.

robopianist-demo. C

learn-ransac. Learning about RANSAC.

dm_env_wrappers. Standalone library of frequently-used wrappers for dm_env environments.

nanorl. A tiny reinforcement learning codebase for continuous control, built on top of JAX.

software. My open-source software contributions.

awesome-robot-descriptions. A curated list of awesome robot descriptions

mujoco_utils. Python

mujoco_menagerie. A collection of high-quality models for the MuJoCo physics engine, curated by DeepMind.

learn-volumetric-fusion. Learning about volumetric fusion.

learn-blur. Learning about various image blurring techniques.

robot_descriptions.py. Import robot descriptions as Python modules

rscope. RL training visualizer for Mujoco Playground environments + Brax training

whole_body_tracking. Python

brax. Massively parallel rigidbody physics simulation on accelerator hardware.

mujoco. Multi-Joint dynamics with Contact. A general purpose physics simulator.

controls. Toy implementations of algorithms for path planning, system modelling, optimal control, estimation, and more.

mujoco_warp. GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.