ICRA2026: ABPolicy Asynchronous B-Spline Flow Policy for Real-Time and Smooth Robotic Manipulation

This repository provides tutorials for reinforcement learning and imitation learning using ROBOTIS robots, and supports Sim2Real functionality for deploying the learned policies on real robots.

Open Humanoid AI Sapiens

Control packages for the ROBOTIS Physical AI lineup

Robot Controller for various robot models

A 3D-printable bracket for mounting an Intel RealSense D405 on the forearm of the IGRIS-C humanoid.

광운대학교 로빛의 아카이브 페이지입니다.

[ICLR 2026] Towards Unified Latent VLA for Whole-body Loco-manipulation Control

Official Codebase for "DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos" (ICML 2026)

[ICRA 2026] UltraDexGrasp: Learning Universal Dexterous Grasping for Bimanual Robots with Synthetic Data

This is an official implementation for "ManipForce: Force-Guided Policy Learning with Frequency-Aware Representation for Contact-Rich Manipulation", ICRA 2026.

Code for "GVHMR: World-Grounded Human Motion Recovery via Gravity-View Coordinates", Siggraph Asia 2024, TPAMI 2026

Robot kinematics implemented in pytorch

GPU-friendly, auto-differentiable LQR solver with JAX.

Robot bimanual manipulation / dual-arm manipulation

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

Generative and Graphical Inverse Kinematics

Python inverse kinematics using Pinocchio and QP solvers

Python inverse kinematics based on MuJoCo.

Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success

DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation

LiPo: A Lightweight Post-optimization Framework for Smoothing Action Chunks Generated by Learned Policies

The official implementation of "Horizon Reduction Makes RL Scalable"

Official Code Repo for GENIMA

Release repo for our SLAM Handbook

[RSS 2025] Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy

Public release of VSF estimation software library

GaussianDreamerPro: Text to Manipulable 3D Gaussians with Highly Enhanced Quality