[T-PAMI 2025] PonderV2: Pave the Way for 3D Foundation Model with A Universal Pre-training Paradigm

Robotics Toolbox for Python

[CoRL 24 Oral] D^3Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement

Summary of key papers and blogs about diffusion models to learn about the topic. Detailed list of all published diffusion robotics papers.

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

A unified architecture for multimodal multi-task robotic policy learning.

HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation

Official implementation of CVPR23 paper "Diffusion-based Generation, Optimization, and Planning in 3D Scenes"

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Safe RLHF: Constrained Value Alignment via Safe Reinforcement Learning from Human Feedback

streamline the fine-tuning process for multimodal models: PaliGemma 2, Florence-2, and Qwen2.5-VL

This is the pytorch implementation of the UAI2023 paper "A Trajectory is Worth Three Sentences: Multimodal Transformer for Offline Reinforcement Learning"

DDPO for finetuning diffusion models, implemented in PyTorch with LoRA support

Code for the RA-L paper "Language Models as Zero-Shot Trajectory Generators" available at https://arxiv.org/abs/2310.11604.

MiniGrid Implementation of BEHAVIOR Tasks

An overview of different quaternion implementations and their chosen order: x-y-z-w or w-x-y-z?

Paper list in the survey paper: Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

[NeurIPS '23 Spotlight] Thought Cloning: Learning to Think while Acting by Imitating Human Thinking

[ECCV 2024] 💐Official implementation of the paper "Diffusion Reward: Learning Rewards via Conditional Video Diffusion"

Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

Google DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo.

Code for Compositional Diffusion-Based Continuous Constraint Solvers (CoRL 23)

Code for RoboFlamingo

Code for "TD-MPC2: Scalable, Robust World Models for Continuous Control"

[ICRA 2023] A Joint Modeling of Vision-Language-Action for Target-oriented Grasping in Clutter

Official implementation of the paper "LangSplat: 3D Language Gaussian Splatting" [CVPR2024 Highlight]