kevinzakka

pytorch-goodies

PyTorch Boilerplate For Research

recurrent-visual-attention

A PyTorch Implementation of "Recurrent Models of Visual Attention"

torchnca

A PyTorch implementation of Neighbourhood Components Analysis.

mjctrl

Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

torchkit

Research boilerplate for PyTorch.

clip_playground

An ever-growing playground of notebooks showcasing CLIP's impressive zero-shot capabilities

obj2mjcf

A CLI for processing composite Wavefront OBJ files for use in MuJoCo.

mujoco_scanned_objects

MuJoCo Models for Google's Scanned Objects Dataset

ibc

A PyTorch implementation of Implicit Behavioral Cloning

form2fit

[ICRA 2020] Train generalizable policies for kit assembly with self-supervised dense correspondence learning.

learn-linalg

Learning some numerical linear algebra.

x-magical

[CoRL 2021] A robotics benchmark for cross-embodiment imitation.

mjc_viewer

A browser-based 3D viewer for MuJoCo

torchsdf-fusion

Benchmarking PyTorch variants of TSDF fusion.

robopianist-rl

RL code for training piano-playing policies for RoboPianist.

mujoco_tips_and_tricks

walle

My robotics research toolkit.

mujoco_cube

A 3x3x3 puzzle cube model for MuJoCo.

robopianist-demo

learn-ransac

Learning about RANSAC.

dm_env_wrappers

Standalone library of frequently-used wrappers for dm_env environments.

nanorl

A tiny reinforcement learning codebase for continuous control, built on top of JAX.

software

My open-source software contributions.

awesome-robot-descriptions

A curated list of awesome robot descriptions

mujoco_utils

learn-volumetric-fusion

Learning about volumetric fusion.

mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.

mujoco_menagerie

A collection of high-quality models for the MuJoCo physics engine, curated by DeepMind.

robopianist

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

robot_descriptions.py

Import robot descriptions as Python modules