LAP: Language-Action Pre-Training Enables Zero-Shot Cross Embodiment Transfer

Re-implementation of pi0 vision-language-action (VLA) model from Physical Intelligence

Official implementation of Guiding Data Collection via Factored Scaling Curves, arxiv 2025

Simulated experiments for "Real-Time Execution of Action Chunking Flow Policies".

[ICLR 2025] LAPA: Latent Action Pretraining from Videos

A simple custom QLoRA implementation for fine-tuning a language model (LLM) with basic tools such as PyTorch and Bitsandbytes, completely decoupled from Hugging Face.

Coding a Multimodal (Vision) Language Model from scratch in PyTorch with full explanation: https://www.youtube.com/watch?v=vAmKB7iPkWw

An extremely fast Python package and project manager, written in Rust.

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

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

Repo for Bring Your Own Vision-Language-Action (VLA) model, arxiv 2024

official implementation for our paper Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning (NeurIPS 2023)

Verifying and synthesizing compatible Control Lyapunov Function (CLF) and Control Barrier Function (CBF)

From Imitation to Refinement -- Residual RL for Precise Assembly

Official implementation of Diffusion Policy Policy Optimization, arxiv 2024

Google Drive public file downloader when curl/wget fails.

[ICLR 2024] Official implementation for "Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations"

Code for combining generalization guarantees for perception and planning.

Public release for "Explore until Confident: Efficient Exploration for Embodied Question Answering"

A flexible and efficient codebase for training visually-conditioned language models (VLMs)

MonoNav: MAV Navigation via Monocular Depth Estimation and Reconstruction

Materials for STAT 991: Topics In Modern Statistical Learning (UPenn, 2022 Spring) - uncertainty quantification, conformal prediction, calibration, etc