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ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.
Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars
FriendlySplat is a user-friendly, open-source Gaussian Splatting toolkit, integrating SOTA features into a unified platform for training, pruning, meshing and segmentation.
Official implementation of OpenTrack.
This repository provides a set of reinforcement learning tasks for Booster robots using Isaac Lab.
An easy-to-use deployment framework that enables seamlessly running the same policy code in both simulation and on real robots.
Booster robot descriptions and example motion data
Helios: Real Real-Time Long Video Generation Model
The ultimate tool for converting STEP file to URDF.
TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
🚀 A simple way to launch, train, and use PyTorch models on almost any device and distributed configuration, automatic mixed precision (including fp8), and easy-to-configure FSDP and DeepSpeed support
Train transformer language models with reinforcement learning.
verl: Volcano Engine Reinforcement Learning for LLMs
[CoRL 2025] TWIST: Teleoperated Whole-Body Imitation System
A high-throughput and memory-efficient inference and serving engine for LLMs
A scalable generative AI framework built for researchers and developers working on Large Language Models, Multimodal, and Speech AI (Automatic Speech Recognition and Text-to-Speech)
Welcome to GR00T Whole-Body Control (WBC)! This is a unified platform for developing and deploying advanced humanoid controllers. This includes: Decoupled WBC models used in NVIDIA Isaac-Gr00t, Gr0…
Use PEFT or Full-parameter to CPT/SFT/DPO/GRPO 600+ LLMs (Qwen3.5, DeepSeek-R1, GLM-5, InternLM3, Llama4, ...) and 300+ MLLMs (Qwen3-VL, Qwen3-Omni, InternVL3.5, Ovis2.5, GLM4.5v, Llava, Phi4, ...)…
[ICRA 2026] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
Ongoing research training transformer models at scale
A Sim-to-Real Single-Stage Planner for Off-Road Terrain
Unified Efficient Fine-Tuning of 100+ LLMs & VLMs (ACL 2024)
Spatially-Enhanced Recurrent Units (SRU) - PyTorch Implementation
CleanDiffuser: An Easy-to-use Modularized Library for Diffusion Models in Decision Making