Hand-object interaction Pretraining From Videos

Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success

The repository for the largest and most comprehensive empirical study of visual foundation models for Embodied AI (EAI).

[ICRA 2025] PyTorch Code for Local Policies Enable Zero-shot Long-Horizon Manipulation

[SIGGRAPH2022] Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search

[SCA2021] A GAN-Like Approach for Physics-Based Imitation Learning and Interactive Character Control

Official code for "Towards An End-to-End Framework for Flow-Guided Video Inpainting" (CVPR2022)

An open-source library for GPU-accelerated robot learning and sim-to-real transfer.

Adds ability to download models from IKEA website

Best practice and tips & tricks to write scientific papers in LaTeX, with figures generated in Python or Matlab.

A Minimal Example of Isaac Gym with DQN and PPO.

A generative world for general-purpose robotics & embodied AI learning.

High-quality single file implementation of Deep Reinforcement Learning algorithms with research-friendly features (PPO, DQN, C51, DDPG, TD3, SAC, PPG)

Very fast motion planning for articulated robot, through a bit of premature-optimization (C++ core with Python bindings) *less than 1ms for moderate problems

Official implementation of NeurIPS 2024 paper: "Omnigrasp: Simulated Humanoid Grasping on Diverse Objects".

Isaac Gym Environments for Legged Robots

Fast and simple implementation of RL algorithms, designed to run fully on GPU.

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …

PyViz3D is a web-based visualizer for 3D objects and point clouds.

Depth Pro: Sharp Monocular Metric Depth in Less Than a Second.

Web-based 3D visualization + Python

Access 100+ robot descriptions from the main Python robotics frameworks

ROS2 SocketCAN Driver for Allegro Hand

Code for SAPG: Split and Aggregate Policy Gradients (ICML 2024)

Run Segment Anything Model 2 on a live video stream

ROS 2 integration for KUKA LBR IIWA 7/14 and Med 7/14

A curated list of 3D Vision papers relating to Robotics domain in the era of large models i.e. LLMs/VLMs, inspired by awesome-computer-vision, including papers, codes, and related websites