Allen Ren

lap. LAP: Language-Action Pre-Training Enables Zero-Shot Cross Embodiment Transfer

open-pi-zero. Re-implementation of pi0 vision-language-action (VLA) model from Physical Intelligence

factored-scaling-curves. Official implementation of Guiding Data Collection via Factored Scaling Curves, arxiv 2025

openpi. Python

real-time-chunking-kinetix. Simulated experiments for "Real-Time Execution of Action Chunking Flow Policies".

madrona_mjx. C++

hal-harness. Python

remix. Python

LAPA. [ICLR 2025] LAPA: Latent Action Pretraining from Videos

RoboVLMs. Python

QLoRA-LLM. A simple custom QLoRA implementation for fine-tuning a language model (LLM) with basic tools such as PyTorch and Bitsandbytes, completely decoupled from Hugging Face.

pytorch-paligemma. Coding a Multimodal (Vision) Language Model from scratch in PyTorch with full explanation: https://www.youtube.com/watch?v=vAmKB7iPkWw

uv. An extremely fast Python package and project manager, written in Rust.

tidybot2. TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

diffusion-literature-for-robotics. Summary of key papers and blogs about diffusion models to learn about the topic. Detailed list of all published diffusion robotics papers.

byovla. Repo for Bring Your Own Vision-Language-Action (VLA) model, arxiv 2024

rlpd. Python

Cal-QL. official implementation for our paper Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning (NeurIPS 2023)

compatible_clf_cbf. Verifying and synthesizing compatible Control Lyapunov Function (CLF) and Control Barrier Function (CBF)

robust-rearrangement. From Imitation to Refinement -- Residual RL for Precise Assembly

dppo. Official implementation of Diffusion Policy Policy Optimization, arxiv 2024

gdown. Google Drive public file downloader when curl/wget fails.

ibrl. Python

d3il. [ICLR 2024] Official implementation for "Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations"

risk_calibrated_interactive_planning. Python

perception-guarantees. Code for combining generalization guarantees for perception and planning.

explore-eqa. Public release for "Explore until Confident: Efficient Exploration for Embodied Question Answering"

prismatic-vlms. A flexible and efficient codebase for training visually-conditioned language models (VLMs)

MonoNav. MonoNav: MAV Navigation via Monocular Depth Estimation and Reconstruction

Topics-In-Modern-Statistical-Learning. Materials for STAT 991: Topics In Modern Statistical Learning (UPenn, 2022 Spring) - uncertainty quantification, conformal prediction, calibration, etc

Fleet-Tools. Tool-use Robotic Benchmark built with Drake Simulation

AdaptSim. Code Release for AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer

tsdf-fusion-python. Python code to fuse multiple RGB-D images into a TSDF voxel volume.

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

awesome-language-agents. List of language agents based on paper "Cognitive Architectures for Language Agents"

ISAACS. Python

simulators. Python

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

diffuser. Code for the paper "Planning with Diffusion for Flexible Behavior Synthesis"

SimLabReal. Safe Reinforcement Learning with Shielding and Generalization Guarantees

zed-fonts. The Zed Mono and Sans typefaces, custom built from Iosevka

andyzeng.github.io. HTML

deoxys_control. A modular, real-time controller library for Franka Emika Panda robots

Awesome-LLM-Robotics. A comprehensive list of papers using large language/multi-modal models for Robotics/RL, including papers, codes, and related websites

VIOLA. Official implementation for VIOLA

Normalized-Advantage-Function-NAF-. PyTorch implementation of the Q-Learning Algorithm Normalized Advantage Function for continuous control problems + PER and N-step Method

Failure-Prediction. Code for paper titled "Failure Prediction with Statistical Guarantees for Vision-Based Robot Control"

drake. Model-based design and verification for robotics.

bayes-sim-ig. BayesSimIG: Scalable Parameter Inference for Adaptive Domain Randomization with Isaac Gym

panda_mti. Custom PD controller and robot emulation for Franka-Emika Panda arms

ruckig. Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

pyk4a. Python 3 wrapper for Azure-Kinect-Sensor-SDK

SinkhornAutoDiff. Toolbox to integrate optimal transport loss functions using automatic differentiation and Sinkhorn's algorithm

BranchingDQN. BranchingDQN

br-dp-robust. Bounded-rationality robustness experiments in Jax.

reptile-pytorch. A PyTorch implementation of OpenAI's REPTILE algorithm

xmacro. xmacro is a simple tool to define and parse XML macro.

performance-limits. Code for paper "Fundamental Performance Limits for Sensor-Based Robot Control and Policy Learning".

drake_workspace. A testing repository for drake.

manipulation. Course notes for MIT manipulation class

PAC-Imitation. Code for Generalization Guarantees for (Multi-Modal) Imitation Learning

BlenderPythonDecimator. A Python Tool that decimates an .obj 3D model into lower resolutions using the Blender Python API.

potential_energy_landscape. Data, code, and figures accompanying publication: 10.1098/rspb.2020.2734

gym-pybullet-drones. PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control

DRAGEN. Distributionally Robust Policy Learning via Adversarial Environment Generation

Task_Relevant_OOD_Detection. Code for paper titled: "Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning."

rlpyt. Reinforcement Learning in PyTorch

geopatterns. A Python-port of @jasonlong's lovely SVG generation library.

geo_pattern. Create beautiful generative geometric background images from a string.

PAC-BUS. Code for: "Generalization Bounds for Meta-Learning via PAC-Bayes and Uniform Stability"

pybullet-panda. Custom Franka Panda environment in PyBullet

shapely. Manipulation and analysis of geometric objects

AMR-Policies. Python

visual-pushing-grasping. Train robotic agents to learn to plan pushing and grasping actions for manipulation with deep reinforcement learning.

mesh_to_sdf. Calculate signed distance fields for arbitrary meshes

PAC-Vision-Planning. Python

trc-nn. Code for the neural network task-revelevant control experiments.

Invariant-Policy-Optimization. Code for Invariant Policy Optimization

ros_numpy. Tools for converting ROS messages to and from numpy arrays

ropy. A robotics library for Python

Azure_Kinect_ROS_Driver. A ROS sensor driver for the Azure Kinect Developer Kit.

task-relevant-control. MATLAB

PAC-Bayes-Control. Code for the PAC-Bayes Control paper.

ModernRobotics. Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.

Manifold. Convert any Triangle Mesh to Watertight Manifold

procedural-objects. Procedural object generation for robotic manipulation

trimesh. Python library for loading and using triangular meshes.

mvp_grasp. Multi-Viewpoint Picking (ICRA 2019)

aruco_hand_eye. Hand-eye calibration integration using aruco_ros and VISP

bullet3. Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.