caelan

NeMo

A scalable generative AI framework built for researchers and developers working on Large Language Models, Multimodal, and Speech AI (Automatic Speech Recognition and Text-to-Speech)

pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

dora

DORA (Dataflow-Oriented Robotic Application) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed dataflow capabilities. Applications are modeled as directed graphs, also referred to as pipelines.

FoundationPose

[CVPR 2024 Highlight] FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

open_x_embodiment

enroot

A simple yet powerful tool to turn traditional container/OS images into unprivileged sandboxes.

octo

Octo is a transformer-based robot policy trained on a diverse mix of 800k robot trajectories.

RoboGen

A generative and self-guided robotic agent that endlessly propose and master new skills.

humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

drqv2

DrQ-v2: Improved Data-Augmented Reinforcement Learning

robocasa

RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

relaxed_ik

RelaxedIK Solver

pyroboplan

Educational Python library for manipulator motion planning

Assemble-Them-All

[SIGGRAPH Asia 2022] Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly

kortex

Code examples and API documentation for KINOVA® KORTEX™ robotic arms

isaac_ros_pose_estimation

Deep learned, NVIDIA-accelerated 3D object pose estimation

vamp

SIMD-Accelerated Sampling-based Motion Planning

pybullet_ompl

Simple OMPL motion planning interface for Pybullet

guide

🦮 An introduction to our Answer Set Programming tools focusing on gringo, clingo, and clasp.

python-clients

Riva Python client API and CLI utils

IsaacSim-dockerfiles

Isaac Sim Dockerfiles

signal-temporal-logic

A library for efficiently working with Signal Temporal Logic (STL) and its quantitative semantics. Has Python bindings!

gpt4-image-api

Small tool using selenium to get a temporary API endpoint for the ChatGPT Image Input / image recognition feature. Very quickly made, you should not rely on this on prod.

URDF2MJCF

Convert URDF robot definitions to MuJoCo environments

gen3_compliant_controllers

ROS Package providing compliant controllers for the Kinova Gen3 arm

industreallib

M2T2

M2T2: Multi-Task Masked Transformer for Object-centric Pick and Plac

drake_ros2_demos

Hacks for working with drake in ROS 2, inspired by https://github.com/EricCousineau-TRI/repro/tree/master/ros/drake_ros1_hacks - Most of this is being merged into https://github.com/RobotLocomotion/drake-ros

robotouille

drqv2

DrQ-v2: Improved Data-Augmented Reinforcement Learning