Pytorch implementation of Transfusion, "Predict the Next Token and Diffuse Images with One Multi-Modal Model", from MetaAI

Simple and readable code for training and sampling from diffusion models

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

MLX: An array framework for Apple silicon

A paper list of my history reading. Robotics, Learning, Vision.

A unified architecture for multimodal multi-task robotic policy learning.

Robust, intersection-free, simulations of rigid bodies.

Implementation of Perceiver, General Perception with Iterative Attention, in Pytorch

PyTorch distributed training comparison

Supercharged BLIP-2 that can handle videos

The repository for the largest and most comprehensive empirical study of visual foundation models for Embodied AI (EAI).

Official implementation of "Neuralangelo: High-Fidelity Neural Surface Reconstruction" (CVPR 2023)

Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home

Voltron: Language-Driven Representation Learning for Robotics

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

A σ-VAE implementation in PyTorch

Code for "OnePose: One-Shot Object Pose Estimation without CAD Models", CVPR 2022

Code for the paper "Zero-Shot Category-Level 6D Pose Estimation"

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

Course notes for MIT manipulation class