Robotics & Embodied Artificial Intelligence Lab (REAL)

diffusion_policy

[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

universal_manipulation_interface

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

scalingup

[CoRL 2023] This repository contains data generation and training code for Scaling Up & Distilling Down

decentralized-multiarm

[CoRL 2020] Learning a Decentralized Multiarm Motion Planner

semantic-abstraction

[CoRL 2022] This repository contains code for generating relevancies, training, and evaluating Semantic Abstraction.

flingbot

[CoRL 2021 Best System Paper] This repository contains code for training and evaluating FlingBot in both simulation and real-world settings on a dual-UR5 robot arm setup for Ubuntu 18.04

cow

[CVPR 2023] CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation

reflect

[CoRL 2023] REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction

dsr

[CoRL 2020] Learning 3D Dynamic Scene Representations for Robot Manipulation

garmentnets

[ICCV 2021] GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion

irp

[RSS 2022 Best Paper, Best Student Paper Finalist] Iterative Residual Policy for Goal-Conditioned Dynamic Manipulation of Deformable Objects

adagrasp

[ICRA 2021] AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy

umpnet

[RA-L / ICRA 2022] UMPNet: Universal Manipulation Policy Network for Articulated Objects

xskill

[CoRL 2023] XSkill: cross embodiment skill discovery

SSCNav

[ICRA 2021] SSCNav: Confidence-Aware Semantic Scene Completion for Visual Semantic Navigation

dextairity

[RSS 2022, Best System Paper Finalist] DextAIRity: Deformable Manipulation Can be a Breeze

maniwav

Official codebase of paper "ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data"

cloth-funnels

[ICRA 2023] This repository contains code for training and evaluating Cloth Funnels in simulation for Ubuntu 18.04.

dgdm

Dynamics-Guided Diffusion Model for Robot Manipulator Design

roboninja

[RSS 2023] RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects

fit2form

[CoRL 2020] Fit2Form: 3D Generative Model for Robot Gripper Form Design

gpat

[CoRL 2023] Rearrangement Planning for General Part Assembly

busybot

[CoRL 2022] BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment

ASPiRe

[NeurIPS 2022] ASPiRe: Adaptive Skill Priors for Reinforcement Learning

SEaT

Scene Editing as Teleoperation: A Case Study in 6DoF Kit Assembly

PyKinect

PyRealSense

minWSG

Minimal code for controlling Schunk WSG grippers

pytorch-lightning-segmentation-template

Semantic Segmentation on the LaPa dataset using Pytorch Lightning

open3d-crv