Louis Le Lay

Open-sourcing pal_mjlab -- the RL work I did at PAL Robotics. Velocity tracking, motion imitation, and dual-arm reaching across KANGAROO, TALOS, and TIAGo Pro. Multiple tasks transferred to real hardware, all built on @kevin_zakka's mjlab.

@KyleMorgenstein @kevin_zakka @ChongZitaZhang Sorry man I'm messing with you ahah but super cool can't wait to hear more abt it :)

@LouisLeLay4 @kevin_zakka @ChongZitaZhang when I find the time I’m very excited to play with the depth sim2real so101 envs. I’ve also used that viser setup for many things, it’s great!

This is why we need Newton

@kevin_zakka @KyleMorgenstein @ChongZitaZhang I'll be damned if Kyle ever stops using Isaac Lab...

@KyleMorgenstein @ChongZitaZhang Just because I wanna have fun, they both didn't like the tweet 🧂🧂🧂🧂

@kevin_zakka @KyleMorgenstein @ChongZitaZhang ➕

@KyleMorgenstein @ChongZitaZhang github.com/mujocolab/mjlab

@KyleMorgenstein @ChongZitaZhang Ewww

@LouisLeLay4 @ChongZitaZhang also you have to cast from warp to torch like shrapnel everywhere

@KyleMorgenstein @ChongZitaZhang That much?? Couldn't take a look recently :((

@ChongZitaZhang but Newton made the IsaacLab 3 API so gross 🥲😭

Animation 🤝 Robotics ProtoMotions GTC 2026 release — bridging the gap between digital humans and real humanoid robots. Train in simulation. Deploy on hardware. One framework, one codebase. nvlabs.github.io/ProtoMotions

@kevin_zakka Reaaally cool

Coming soon to mjlab: heterogeneous worlds, aka every world gets its own object 👀

@mitchaiet Really cool Mitch, congrats !!! And enjoy GTC :)

Introducing G1 Moves! 60 open-source motion capture clips + trained RL policies for the Unitree G1 humanoid robot. Come see live robot mocap and interactive roasts at the Dell booth at #GTC this week! huggingface.co/spaces/exptech… #DellProPrecision #DellTech #NVIDIA #Robotics

🎾Introducing LATENT: Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data Dynamic movements, agile whole-body coordination, and rapid reactions. A step toward athletic humanoid sports skills. Project: zzk273.github.io/LATENT/ Code: github.com/GalaxyGeneralR…

trained snakebot locomotion policy with end2end rl. mjlab makes such these too easy. the most difficult part was making the mjcf due to 3 closed link of our snakebot design

Robot implementations in MuJoCo Warp for locomotion and motion imitation github.com/pal-robotics/p…

Other than just compute, access to capital is really helpful in robotics so you can break/repair robots If you are serious about pushing limits, breaking some robots should be the norm not the exception

The correct answer was "over $4.5B"

GTSAM now has a small hierarchy of Kalman filters for states that live on manifolds and Lie groups: ManifoldEKF -> LieGroupEKF -> InvariantEKF -> LeftLinearEKF The key idea is simple: keep the state on the manifold, but do uncertainty propagation in the tangent space. For navigation and IMU integration, this matters a lot.

@jinrui82 @gclue_akira Amazing, tysm for opensourcing it! Cc @manforrobots

Our HUSKY code is now open-source ! Humanoid skateboarding powered by mjlab 🛹 Check it out: github.com/TeleHuman/huma…

@ZenmuseGai Also did you design yourself the realsense attachment? Or is it open-sourced?

@LouisLeLay4 Oh my god! I already have feetech_ros_driver Moveit! I didn't know there was a corresponding package. Thank you for letting me know! I will use it as a reference for development.

ROS2 対応 SO-101 ドライバの作成中。 ✅ ROS2 Humble ✅ Support teleop by leader arm 近日公開予定。 追加予定機能 ☑️ Support Moveit! #lerobot #ros2 #so101