Starred repositories
A lightweight suite of motion imitation methods for training controllers.
Human in the loop Reinforcement Learning suite
Official implementation of "Flow Based Policy for Online Reinforcement Learning"
[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"
[CoRL 2025] TWIST: Teleoperated Whole-Body Imitation System
Code for the paper "Planning with Diffusion for Flexible Behavior Synthesis"
Official implementation of Diffusion Policy Policy Optimization, arxiv 2024
Cartesian impedance controller with reference limiting for Franka Emika Robot
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning
Official implementation for DSRL, Steering Your Diffusion Policy with Latent Space Reinforcement Learning (CoRL 2025)
Official implementation for pi0 steering via DSRL, Steering Your Diffusion Policy with Latent Space Reinforcement Learning (CoRL 2025)
SAPIEN Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark, led by Hillbot, Inc.
High-quality single file implementation of Deep Reinforcement Learning algorithms with research-friendly features (PPO, DQN, C51, DDPG, TD3, SAC, PPG)
RLinf: Reinforcement Learning Infrastructure for Embodied and Agentic AI
An opensource OpenWrt variant for mainland China users.
Python inverse kinematics using Pinocchio and QP solvers
Official Algorithm Codebase for the Paper "BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities"
An open-source AI agent that brings the power of Gemini directly into your terminal.
ROS2 / FAST_LIO / PGO / Online Re-Localization / Consistent Map with BA or HBA
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
[arXiv 2025] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.
ROS 2 Robotics Development: From Fundamentals to Practice - Companion Code Repository | 《ROS 2机器人开发：从入门到实践》 书籍配套代码
Evaluating and reproducing real-world robot manipulation policies (e.g., RT-1, RT-1-X, Octo) in simulation under common setups (e.g., Google Robot, WidowX+Bridge) (CoRL 2024)
[ICLR 2025] LAPA: Latent Action Pretraining from Videos