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

Official Implementation for "Catch It! Learning to Catch in Flight with Mobile Dexterous Hands"

Python tool for converting files and office documents to Markdown.

[CoRL 2024] Im2Flow2Act: Flow as the Cross-domain Manipulation Interface

Official Repository for DenseMatcher Learning 3D Semantic Correspondence for Category-Level Manipulation from One Demo

Material Anything: Generating Materials for Any 3D Object via Diffusion

API for controlling LEAP Hand

[CVPR2024] Code for "SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimation".

Official implementation for paper "EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning".

FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation

ImOV3D: Learning Open Vocabulary Point Clouds 3D Object Detection from Only 2D Images (NeurIPS2024)

PRIN/SPRIN: On Extracting Point-wise Rotation Invariant Features

Customized Python APIs for NVIDIA FleX

SoftGym is a set of benchmark environments for deformable object manipulation.

A tool to fit SMPL parameters from 3D-pose datasets that contain key-points of human body.

Official code repository of paper "D(R, O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping"

Web-based 3D visualization + Python

Default Course Project of CS4278/CS5478 Intelligent Robots: Algorithms and Systems

[NeurIPS 2024] Official implementation of "Spec-Gaussian: Anisotropic View-Dependent Appearance for 3D Gaussian Splatting"

Official Implementation of paper "MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motion"

PyTorch Code for Neural MP: A Generalist Neural Motion Planner