pySLAM is a visual SLAM pipeline in Python for monocular, stereo and RGBD cameras. It supports many modern local and global features, different loop-closing methods, a volumetric reconstruction pip…

MineStudio: A Streamlined Package for Minecraft AI Agent Development

Official codebase for LEGATO (Learning with a Handheld Grasping Tool)

Release repo for our SLAM Handbook

Official PyTorch implementation of AdaFlow

Data collection part for ARCap

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

[IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

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 …

Official implementation of Diffusion Policy Policy Optimization, arxiv 2024

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

The repository provides code for running inference with the Meta Segment Anything Model 2 (SAM 2), links for downloading the trained model checkpoints, and example notebooks that show how to use th…

A Benchmark for Evaluating Generalization for Robotic Manipulation

Official codebase of paper "ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data"

Python inverse kinematics based on MuJoCo

Official PyTorch Implementation of the Longhorn Deep State Space Model

CUDA kernels for the Longhorn Architecture

MOKA: Open-World Robotic Manipulation through Mark-based Visual Prompting (RSS 2024)

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

[CoRL 2024] HumanPlus: Humanoid Shadowing and Imitation from Humans

Code for Reinforcement Learning from Vision Language Foundation Model Feedback

Shared control in Gnomes at Night: AISMCTS-F + language

This code corresponds to simulation environments used as part of the MimicGen project.