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Robotics
Code for "MetaMorph: Learning Universal Controllers with Transformers", Gupta et al, ICLR 2022
Pre-training Reusable Representations for Robotic Manipulation Using Diverse Human Video Data
Tooling for the Common Objects In 3D dataset.
Pytorch code for NeurIPS-20 Paper "Object Goal Navigation using Goal-Oriented Semantic Exploration"
Pytorch code for ICLR-20 Paper "Learning to Explore using Active Neural SLAM"
Isaac Gym Reinforcement Learning Environments
PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.
A comprehensive list of Implicit Representations and NeRF papers relating to Robotics/RL domain, including papers, codes, and related websites
robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
Collection of community-contributed robosuite task designs
A comprehensive list of papers using large language/multi-modal models for Robotics/RL, including papers, codes, and related websites
Robot kinematics implemented in pytorch
Pre-Trained Visual Representations for Control
An pytorch implementation of time-contrastive networks as presented in the paper "Time-Contrastive Networks: Self-Supervised Learning from Multi-View Observation".
State Representation Learning (SRL) zoo with PyTorch - Part of S-RL Toolbox
A modular high-level library to train embodied AI agents across a variety of tasks and environments.
Repository to accompany RSS 2018 paper on dexterous hand manipulation
Official repository for "VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training"
Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home
Official Algorithm Implementation of ICML'23 Paper "VIMA: General Robot Manipulation with Multimodal Prompts"
A large-scale benchmark and learning environment.
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
Implementation of Perceiver, General Perception with Iterative Attention, in Pytorch
DexMV: Imitation Learning for Dexterous Manipulation from Human Videos, ECCV 2022
Q-attention (within the ARM system) and coarse-to-fine Q-attention (within C2F-ARM system).
MANO layer for PyTorch, generating hand meshes as a differentiable layer