HumanML3D: A large and diverse 3d human motion-language dataset.

[ICRA 2026] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.

Train transformer language models with reinforcement learning.

An open-source library for GPU-accelerated robot learning and sim-to-real transfer.

Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.

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

MuJoCo AR on mink examples

phone teleoperation for robots

Numerical Inverse Kinematics solver based on JAX + MJX

[IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

Python inverse kinematics based on MuJoCo

TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videos

LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators (IROS'24)

Toolkit for vision-guided quadrupedal locomotion research

[CoRL 2024] HumanPlus: Humanoid Shadowing and Imitation from Humans

A fast and simple implementation of learning algorithms for robotics.

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

Bimanual Dexterous Teleoperation with Real-Time Retargeting using VisionPro

Tactile Sensing • Simulation • Representation • Manipulation • IL/RL/VLA/WM • Open Source

A Github Copilot implemention for Google Colab. Say goodbye to alt tabbing 👋

Cross-platform Python support for keyboards, mice and gamepads

Paper list in the survey paper: Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

[EMNLP 2023 Demo] Video-LLaMA: An Instruction-tuned Audio-Visual Language Model for Video Understanding

The Python micro framework for building web applications.

[CoRL '23] Dexterous piano playing with deep reinforcement learning.

RL implementations