A contact solver for physics-based simulations involving 👚 shells, 🪵 solids and 🪢 rods.

Suite of motion imitation methods for training motion controllers.

Body Transformer: Leveraging Robot Embodiment for Policy Learning

A lightweight library for portable low-level GPU computation using WebGPU.

CMake files that provide WebGPU for native and web development, easy-to-integrate and unified across implementations.

[RSS 2024] 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations

Roblox Foundation Model for 3D Intelligence

[SIGGRAPH Asia 2025] Implementation of "StableMotion: Training Motion Cleanup Models with Unpaired Corrupted Data"

Official repository for "MMM: Generative Masked Motion Model" (CVPR 2024 -- Highlight)

Bare-bones Motion Matching implementation using Python

Hand-object interaction Pretraining From Videos

An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

A WebGPU implementation of Position Based MPM (PB-MPM), presented at SIGGRAPH 2024.

[CVPR 2025 Oral] TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenization

Various retargeting optimizers to translate human hand motion to robot hand motion.

An example raylib python application for viewing animation on the Geno character

Official Implementation of the Paper: Object Motion Guided Human Motion Synthesis (SIGGRAPH Asia 2023 (TOG))

Reference PyTorch implementation and models for DINOv3

Implementation of Flow Policy Optimization (FPO)

Code for "GVHMR: World-Grounded Human Motion Recovery via Gravity-View Coordinates", Siggraph Asia 2024

Code for "Robot See Robot Do" presented at CoRL 2024!

ViPE: Video Pose Engine for Geometric 3D Perception

[ ECCV 2024 ] MotionLCM: This repo is the official implementation of "MotionLCM: Real-time Controllable Motion Generation via Latent Consistency Model"

Latent Consistency Models: Synthesizing High-Resolution Images with Few-Step Inference

A simulation platform for versatile Embodied AI research and developments.

Official Implementation of "PLT:Part-Wise Latent Tokens as Adaptable Motion Priors for Physically Simulated Characters" (SIGGRAPH 2025)

Official Implementation of MAMM: Motion Control via Metric-Aligning Motion Matching