This code corresponds to simulation environments used as part of the DexMimicGen project.

Official implementation of DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning

[ICRA 2025] PyTorch Code for Local Policies Enable Zero-shot Long-Horizon Manipulation

Vision package for robot manipulation and learning research

The official implementation of flow Q-learning (FQL)

Learning Real-World Action-Video Dynamics with Heterogeneous Masked Autoregression

MoGe: Unlocking Accurate Monocular Geometry Estimation for Open-Domain Images with Optimal Training Supervision

[CVPR 2025] VideoWorld is a simple generative model that learns purely from unlabeled videos—much like how babies learn by observing their environment

[CVPR 2025] FoundationStereo: Zero-Shot Stereo Matching

Official implementation of Lotus: Diffusion-based Visual Foundation Model for High-quality Dense Prediction

Genesis Reinforcement Learning Environments

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

This is the official repository of GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation

CAnonicalized Manipulation Spaces for Category-Level Functional Hand-Object Manipulation Synthesis

code release for URDFormer

Implementation of GTMP in JAX.

IKEA Manuals at Work: 4D Grounding of Assembly Instructions on Internet Videos

Official codebase for LEGATO (Learning with a Handheld Grasping Tool)

What Went Wrong: Closing the Sim-to-Real Gap Via Differentiable Causal Discovery

Trajectory-based Deep Generative Replay

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

a simple and scalable agent for training adaptive policies with sequence-based RL

Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models

CleanDiffuser: An Easy-to-use Modularized Library for Diffusion Models in Decision Making

Code for Data Collection & Training in Sim+Real Envs: [RSS 2024] Natural Language Can Help Bridge the Sim2Real Gap

Official Repository for "Eurekaverse: Environment Curriculum Generation via Large Language Models" (CoRL 2024)