Stars
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.
Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars
[RSS 2024]: Expressive Whole-Body Control for Humanoid Robots
Official implementation of "Exbody2: Advanced Expressive Humanoid Whole-Body Control"
Author's implementation of DemoDiffusion.
Data preparation and loader for AMASS
Ubisoft La Forge - Animation Dataset
[IROS 2025] Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
The official codebase of paper "GMT: General Motion Tracking for Humanoid Whole-Body Control"
The official PyTorch implementation of the paper "Human Motion Diffusion Model"
A reimplementation of Stable Diffusion 3.5 in pure PyTorch
Official implementation of Diffusion Policy Policy Optimization, arxiv 2024
NVIDIA Isaac GR00T N1.5 is the world's first open foundation model for generalized humanoid robot reasoning and skills.
openvla / openvla
Forked from TRI-ML/prismatic-vlmsOpenVLA: An open-source vision-language-action model for robotic manipulation.
Octo is a transformer-based robot policy trained on a diverse mix of 800k robot trajectories.
Code to automatically prove or verify estimates in analysis
[RSS 2025] Learning to Act Anywhere with Task-centric Latent Actions
[CVPR 2023 Best Paper Award] Planning-oriented Autonomous Driving
Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)
An independent extension based on IsaacLab. It provides support for Robot Manipulation tasks (Robot Arm and Dextrous Hand).
RL Extension Library for Robots, Based on IsaacLab.
GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.
A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.
Suna - Open Source Generalist AI Agent