Robot policies

Research

Waypoint-Based Imitation Learning for Robotic Manipulation

Research

BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning

Research

Consistency Policy studies visuomotor-policy distillation using consistency models.

Research

Official code repository of paper "CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation"

Research

Official implementation of CoPa: General Robotic Manipulation through Spatial Constraints of Parts with Foundation Models

Research

A cross-embodiment policy framework for robot learning.

Research

Deep RL Grasping provides training and evaluation code for depth/RGB-D robotic grasping policies.

Open source

The first framework enabling humanoid robots to learn whole-body loco-manipulation from egocentric human demos

Open source

G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation

Research

Official code of GEM: Generative Supervision Helps Embodied Intelligence

Open source

PyTorch Code for "Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning"

Research

HY-Embodied-0.5-X: An Enhanced Embodied Foundation Model for Real-World Agents

Research

This imitation-learning project compares behavior cloning and Diffusion Policy on Panda pick-and-place.

Research

Official implementation of NeurIPS 2021 paper: "Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimation". This repo contains a copy of the code for "Universal Humanoid Controller" and…

Open source

🎉 Official repository of "ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning"

Research

Manipulate-Anything: Automating Real-World Robots using Vision-Language Models [CoRL 2024]

Open source

Learning Manipulation by Predicting Interaction

Research

An open-source implementation of Multitask Diffusion Transformer (DiT) Policy for robot manipulation as seen on Boston Dynamics Atlas Humanoid and in "A Careful Examination of Large Behavior…

Research

Vision-Based Humanoid Locomotion

Open source

Gripper Keypose and Object Pointflow as Interfaces for Bimanual Robotic Manipulation

Research

Official Implementation of the ICLR 2024 spotlight paper: Universal Humanoid Motion Representations for Physics-Based Control

Open source

Official implementation of "Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots"

Research

The code of paper "From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance" accepted by ICLR'26

Open source

End-to-end robot control based on generative diffusion model