Appendix_C3_核心开源项目速查
附录 C：核心开源项目速查¶
| 项目 | ★ | 方向 | 章节 | URL |
|---|---|---|---|---|
| OCS2 | 1.3k | 全方向 MPC | 73,83,87 | github.com/leggedrobotics/ocs2 |
| qm_control | 310 | D3a MPC+WBC | 86,87 | github.com/skywoodsz/qm_control |
| Deep-WBC | 365 | D3a RL | 88 | github.com/MarkFzp/Deep-Whole-Body-Control |
| visual_wholebody | 389 | D3a 视觉 RL | 89 | github.com/Ericonaldo/visual_wholebody |
| umi-on-legs | 487 | D3a 策略复用 | 90 | github.com/real-stanford/umi-on-legs |
| RAMBO | 112 | D3a MB+RL | 91 | github.com/catachiii/rambo |
| ASAP | 1.9k | D3b sim2real | 94 | github.com/LeCAR-Lab/ASAP |
| FALCON | 311 | D3b 力敏感 | 95 | github.com/LeCAR-Lab/FALCON |
| human2humanoid | 856 | D3b 遥操作 | 93 | github.com/LeCAR-Lab/human2humanoid |
| humanplus | 622 | D3b shadowing | 93 | github.com/MarkFzp/humanplus |
| unitree_rl_gym | 3.1k | D3b baseline | 92,93 | github.com/unitreerobotics/unitree_rl_gym |
| expressive-humanoid | 465 | D3b 解耦 | 93 | github.com/chengxuxin/expressive-humanoid |
| tsid | 176 | D3b WBC | 92 | github.com/stack-of-tasks/tsid |
| openpi | 10.2k | D2 VLA | 84 | github.com/Physical-Intelligence/openpi |
| lerobot | 22.6k | D2 学习 | 84,85 | github.com/huggingface/lerobot |
| OpenTeleVision | 1.2k | D3b 遥操 | 93 | github.com/OpenTeleVision/TeleVision |
| IsaacLab | 6.8k | 全方向仿真 | 74,78,88 | github.com/isaac-sim/IsaacLab |
| BFM-Zero | ~100 | D3b FM | 95 | github.com/LeCAR-Lab/BFM-Zero |
| PHC/PULSE | 1k+ | D3b imitator | 93 | github.com/ZhengyiLuo/PHC |
本大纲完。共 30 章（复合/10_复合机器人全景-100），约 37 周增量内容。与腿足 v1（足式/30_Pinocchio深度精读-70）合并后构成 54 章 ~64 周的"腿足+复合机器人"完整路径；与 v8 主线（Ch1-46）合并后构成 100 章 ~85 周的"SLAM → 规控 → 复合机器人 → 博士"一体化培养路径。