Simulated experiments for "Real-Time Execution of Action Chunking Flow Policies".

[arXiv 2025] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.

A professionally curated list of awesome Conformal Prediction videos, tutorials, books, papers, PhD and MSc theses, articles and open-source libraries.

Adaptive control for skid-steer robots using GP-enhanced MPPI for robust navigation and obstacle avoidance on diverse terrains.

Suite of motion imitation methods for training controllers.

Universal Monocular Metric Depth Estimation

A minimal implementation of DeepMind's Genie world model

Code for ICRA2022 paper: FFHNet : Generating Multi-Fingered Robotic Grasps for Unknown Objects in Real-time

Bubblify is an interactive tool for creating spherical approximations of robot geometries directly from Universal Robot Description Format (URDF) specifications. It provides an intuitive 3D interfa…

Toolbox for our GraspNet-1Billion dataset.

Efficient 6-DoF Grasp Generation in Cluttered Scenes

This is a complete package of recent deep learning methods for 3D point clouds in pytorch (with pretrained models).

Unofficial implementation of ICCV 2021 paper "Graspness Discovery in Clutters for Fast and Accurate Grasp Detection"

[CoRL 2024] ClutterGen: A Cluttered Scene Generator for Robot Learning

This repository contains a sample of the grasping dataset and tools to visualize grasps, generate random scenes, and render observations. The two sample files are in the HDF5 format.

Python module for GQ-CNN training and deployment with ROS integration.

Baseline methods in RA-L paper "SuctionNet-1Billion: A Large-Scale Benchmark for Suction Grasping"

Baseline model for "GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping" (CVPR 2020)

My implementation of Graspnet Graspness.

Official repo for GraspGen: A Diffusion-based Framework for 6-DOF Grasping

Code Repository for GenDexGrasp: Generalizing Dexterous Grasping across Robotic Hands via Contact Map Matching

Repository for reading the Dex-Net 2.0 HDF5 database of 3D objects, parallel-jaw grasps, and robust grasp metrics

A robust Laplace matrix for general (possibly nonmanifold) triangle meshes, and point clouds [Sharp & Crane SGP 2020]

[IROS 2025] ContactDexNet: Multi-fingered Robotic Hand Grasping in Cluttered Environments through Hand-Object Contact Semantic Mapping

[IROS 2025] D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations.

A curated list of Diffusion Model in RL resources (continually updated)

Inpaint anything using Segment Anything and inpainting models.