Unified framework for robot learning built on NVIDIA Isaac Sim

[CVPR 2025 Highlight] Towards Autonomous Micromobility through Scalable Urban Simulation

Virtual Community: An Open World for Humans, Robots, and Society

A simulation evaluation platform for DROID

Distributed, scalable benchmarking of generalist robot policies.

Official implementation for Mobi-π.

Official implementation of Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration

RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

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

DIAMOND (DIffusion As a Model Of eNvironment Dreams) is a reinforcement learning agent trained in a diffusion world model. NeurIPS 2024 Spotlight.

Model Context Protocol Servers

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

Official implementation of "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

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

GRAPE: Guided-Reinforced Vision-Language-Action Preference Optimization

From Imitation to Refinement -- Residual RL for Precise Visual Assembly

[CoRL 2024 Oral] Equivariant Diffusion Policy

Learning to Modulate pre-trained Models in RL (Decision Transformer, LoRA, Fine-tuning)

Official implementation of Diffusion Policy Policy Optimization, arxiv 2024

OpenVLA: An open-source vision-language-action model for robotic manipulation.

Code release for paper "Autonomous Improvement of Instruction Following Skills via Foundation Models"

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

Octo is a transformer-based robot policy trained on a diverse mix of 800k robot trajectories.

Code for BAKU: An Efficient Transformer for Multi-Task Policy Learning

Examples in the MLX framework

This repository contains data generation and training code for Scaling Up & Distilling Down

Google Research