Automatically Analyze your Model Traces

Release repository of our work "Co-Me: Confidence-Guided Token Merging for Visual Geometric Transformers"

[CoRL 2025] TWIST: Teleoperated Whole-Body Imitation System

Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research.

Estimating Body and Hand Motion in an Ego-sensed World

Official implementation of Diffusion Policy Policy Optimization, arxiv 2024

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

Pytorch Implementation (unofficial) of the paper "Mean Flows for One-step Generative Modeling" by Geng et al.

LeRobot sim2real code. Train in fast simulation and deploy visual policies zero shot to the real world

[arXiv 2025] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.

The Superposition of Diffusion Models Using the Itô Density Estimator

Official Implementation of Rethinking Score Distillation as a Bridge Between Image Distributions

[NeurIPS 2025] This repo is official PyTorch implementation of the paper "Learning Dense Hand Contact Estimation from Imbalanced Data".

A fast and simple implementation of learning algorithms for robotics.

NVIDIA Isaac Sim™ is an open-source application on NVIDIA Omniverse for developing, simulating, and testing AI-driven robots in realistic virtual environments.

[CoRL 2025] Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware

Code release for paper "Reconstructing People, Places, and Cameras", In CVPR 2025 (Highlight)

Simplified Perpetual Humanoid Control with Pufferlib, CARBS

Visual Imitation Enables Contextual Humanoid Control. CoRL 2025, Best Student Paper Award.

A Modular Toolkit for Robot Kinematic Optimization

Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars

Sparse nonlinear least squares in JAX

[ICLR 2025] Dataset and Code for Paper "Learning to Generate Diverse Pedestrian Movements from Web Videos with Noisy Labels"

Official Implementation of paper "MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motion"