HybridRobotics

Codebase for Berkeley Humanoid Lite

Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

An open source repository for control, planning and navigation about control barrier functions.

Ego-Vision World Model for Humanoid Contact Planning

Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets

A toolkit for testing control and planning algorithm for car racing.

Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969

Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change https://arxiv.org/abs/2103.12382

[ICLR 2026 Oral] MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Models for Embodied Task Planning

SuperTrack implementation.