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@ami-iit

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.

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

    Suite of libraries for achieving bipedal locomotion on humanoid robots

    C++ 186 42

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

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

    CMake 73 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++ 67 10

  4. adam adam Public

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

    Python 195 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 15 3

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

    Visualizer to display the data logged with YarpRobotLoggerDevice

    Python 28 7

Repositories

Showing 10 of 167 repositories
  • yarp-device-openxrheadset Public
    ami-iit/yarp-device-openxrheadset’s past year of commit activity
    C++ 2 BSD-2-Clause 3 2 3 Updated Sep 19, 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 195 BSD-3-Clause 25 11 4 Updated Sep 19, 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 178 BSD-3-Clause 13 2 4 Updated Sep 18, 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 153 BSD-3-Clause 18 18 (1 issue needs help) 5 Updated Sep 18, 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
    C++ 5 BSD-2-Clause 0 0 0 Updated Sep 18, 2025
  • comodo Public

    Suite of parametrized controller with simulation environments for co-design of Humanoid Robots

    ami-iit/comodo’s past year of commit activity
    Python 21 BSD-3-Clause 4 9 11 Updated Sep 18, 2025
  • robot-log-visualizer Public

    Visualizer to display the data logged with YarpRobotLoggerDevice

    ami-iit/robot-log-visualizer’s past year of commit activity
    Python 28 BSD-3-Clause 7 16 0 Updated Sep 18, 2025
  • awesome-urdf Public

    A curated list of Unified Robot Description Format (URDF) libraries, tools and resources.

    ami-iit/awesome-urdf’s past year of commit activity
    128 8 0 0 Updated Sep 18, 2025
  • yarp-device-ethercat-cia402 Public

    YARP device plugin for EtherCAT CiA402 drives

    ami-iit/yarp-device-ethercat-cia402’s past year of commit activity
    C++ 3 BSD-3-Clause 0 0 2 Updated Sep 16, 2025
  • paper_gorbani_elobaid_2025_lcss_df_mpc-ironcub Public

    Code associated to the paper "Data-fused Model Predictive Control with Guarantees: Application to Flying Humanoid Robots "

    ami-iit/paper_gorbani_elobaid_2025_lcss_df_mpc-ironcub’s past year of commit activity
    C++ 3 BSD-3-Clause 0 0 0 Updated Sep 16, 2025
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