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Artificial and Mechanical Intelligence

README.md

Artificial and Mechanical Intelligence

Welcome to the GitHub organization of the Artificial and Mechanical Intelligence (AMI) lab at the Italian Institute of Technology.

Our mission is to combine Artificial Intelligence with Mechanics to provide mankind the next generation of Humanoid Robots that will help us face the looming societal challenges.

If you want to know more about us:

This GitHub organization contains different types of repositories:

  • Reusable software libraries that make algorithms developed in AMI, developed in C++, Python or MATLAB available to the research community and ready to be used.
  • Reproducible publication software for each paper published by AMI, to easily reproduce the results contained in the scientific papers written by AMI members. These repos can be identified by the paper_ prefix.
  • Organisational repositories, used to organize research and development activities. These repos can be identified by the axis_, component_, element_ or projection_ prefix in their name.
  • Research Outreach repositories, used to advertise and contain material related to workshops, courses or other activities by AMI members. These repos can be identified by the ws_ or course_ prefix in their name.

lab-illutration-LQ

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  1. bipedal-locomotion-framework bipedal-locomotion-framework Public

    Suite of libraries for achieving bipedal locomotion on humanoid robots

    C++ 182 41

  2. lie-group-controllers lie-group-controllers Public

    Header-only C++ library containing controllers designed for Lie Groups.

    CMake 71 7

  3. matio-cpp matio-cpp Public

    A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.

    C++ 66 10

  4. adam adam Public

    adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

    Python 182 25

  5. ironcub-mk1-software ironcub-mk1-software Public

    In this repository we share software for dynamics simulations of the jet-powered humanoid iRonCub-Mk1.

    MATLAB 14 3

  6. robot-log-visualizer robot-log-visualizer Public

    Visualizer to display the data logged with YarpRobotLoggerDevice

    Python 29 6

Repositories

Showing 10 of 158 repositories
  • lie-group-controllers Public

    Header-only C++ library containing controllers designed for Lie Groups.

    ami-iit/lie-group-controllers’s past year of commit activity
    CMake 71 BSD-3-Clause 7 1 (1 issue needs help) 0 Updated Jul 24, 2025
  • robots-configuration Public Forked from robotology/robots-configuration

    Contains robots configuration files

    ami-iit/robots-configuration’s past year of commit activity
    CMake 0 BSD-3-Clause 73 0 0 Updated Jul 23, 2025
  • jaxsim Public

    A differentiable physics engine and multibody dynamics library for control and robot learning.

    ami-iit/jaxsim’s past year of commit activity
    Python 136 BSD-3-Clause 16 13 (1 issue needs help) 12 Updated Jul 23, 2025
  • bipedal-locomotion-framework Public

    Suite of libraries for achieving bipedal locomotion on humanoid robots

    ami-iit/bipedal-locomotion-framework’s past year of commit activity
    C++ 182 BSD-3-Clause 41 71 (1 issue needs help) 12 Updated Jul 23, 2025
  • adam Public

    adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

    ami-iit/adam’s past year of commit activity
    Python 182 BSD-3-Clause 25 9 5 Updated Jul 21, 2025
  • amp-rsl-rl Public

    🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)

    ami-iit/amp-rsl-rl’s past year of commit activity
    Python 133 BSD-3-Clause 8 0 3 Updated Jul 21, 2025
  • cmake-nightly-testing-runner Public

    Experimental GitHub Action-based runner for CMake Nightly Testing

    ami-iit/cmake-nightly-testing-runner’s past year of commit activity
    CMake 0 BSD-3-Clause 0 1 1 Updated Jul 20, 2025
  • isaac-sim-yarp-bridge Public

    Connection between the Isaac Sim ROS2 bridge and YARP interfaces

    ami-iit/isaac-sim-yarp-bridge’s past year of commit activity
    CMake 2 BSD-2-Clause 0 0 1 Updated Jul 18, 2025
  • yarp-device-openxrheadset Public
    ami-iit/yarp-device-openxrheadset’s past year of commit activity
    C++ 2 BSD-2-Clause 3 2 2 Updated Jul 17, 2025
  • liecasadi Public

    Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

    ami-iit/liecasadi’s past year of commit activity
    Python 81 BSD-3-Clause 8 0 0 Updated Jul 15, 2025
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