Stars
Docker container for humanoid-gym (https://github.com/roboterax/humanoid-gym)
MANO hand model in PyTorch (anatomy consistent, anchors, etc)
A lightweight suite of motion imitation methods for training controllers.
A general physic-based retargeting framework.
EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video
[ICRA 2026] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.
[Lumina具身智能社区] 具身智能技术指南 Embodied-AI-Guide
Official implementation of the paper: "PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System"
Pointcept: Perceive the world with sparse points, a codebase for point cloud perception research. Latest works: Utonia (ICML'26), Concerto (NeurIPS'25), Sonata (CVPR'25 Highlight), PTv3 (CVPR'24 Oral)
HaMeR: Reconstructing Hands in 3D with Transformers
Official implementation for Compliant Residual DAgger
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
NVIDIA Isaac GR00T N1.7 - A Foundation Model for Generalist Robots.
GentleHumanoid: Whole body Motion Tracking with Compliance - Inference and Deploy
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
RLinf: Reinforcement Learning Infrastructure for Embodied and Agentic AI
A comprehensive list of papers about Robot Manipulation, including papers, codes, and related websites.
This is the downstream task repositiory for Masked Visual-Tactile Pre-training for Robot Manipulation (ICRA2024)
Python inverse kinematics using Pinocchio and QP solvers
This is a official code for the benchmark of the paper "VTDexManip: A Dataset and Benchmark for Visual-tactile Pretraining and Dexterous Manipulation with Reinforcement Learning" (ICLR 2025)