Lirui (Leroy) Wang

HPT. Heterogeneous Pre-trained Transformer (HPT) as Scalable Policy Learner.

GenSim. Generating Robotic Simulation Tasks via Large Language Models

OMG-Planner. An Optimization-based Motion and Grasp Planner

GA-DDPG. Dexterous Grasping Policy from Point Clouds

HMA. Learning Real-World Action-Video Dynamics with Heterogeneous Masked Autoregression

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

Dec-SSL. Understanding Self-Supervised Learning in a non-IID Setting

HCG. Cluttered-Scene 6D Grasping with Latent Plans

lerobot. HPT LeRobot Implementation Version

ycb_renderer. C++

Pointnet2_PyTorch. PyTorch implementation of Pointnet2/Pointnet++

robotPose. 7-dof Robot Arm Kinematics and Grasp Utilities

llama-recipes. Examples and recipes for Llama 2 model

Clip-Seg. Open-Text Semantics Segmentation for Robotics Manipulation

franka_ros_interface. A ROS/Python API for controlling and managing the Franka Emika Panda robot (real and simulated). Contains exposed controllers for the robot (joint position, velocity, torque), interfaces for the gripper, controller manager, coordinate frames interface, etc. Provides almost complete sim-to-real / real-to-sim transfer of code.