real-stanford

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

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

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

[CoRL 2023] This repository contains data generation and training code for Scaling Up & Distilling Down

DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation

Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design

C++ and Python controller for ARX5 robot arm developed by @yihuai-gao (@real-stanford)

[CoRL 2020] Learning a Decentralized Multiarm Motion Planner

[CoRL 2024] Im2Flow2Act: Flow as the Cross-domain Manipulation Interface

[CVPR 2023] CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation

[CoRL 2021 Best System Paper] This repository contains code for training and evaluating FlingBot in both simulation and real-world settings on a dual-UR5 robot arm setup for Ubuntu 18.04

What Enables In-Context Behavior Prompting for Manipulation?

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

[CoRL 2023] REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction

In-the-Wild Compliant Manipulation with UMI-FT

From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning

iPhUMI is a handheld data collection interface for training visuomotor robot manipulation policies and a hardware interface for behavior prompting.

[CoRL 2023] XSkill: cross embodiment skill discovery

[RSS 2022 Best Paper, Best Student Paper Finalist] Iterative Residual Policy for Goal-Conditioned Dynamic Manipulation of Deformable Objects

[ICCV 2021] GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion

[ICRA 2021] AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy

Gated Memory Policy: In-context Memorization and Adaptation [CoRL 2026]

GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization

[RA-L / ICRA 2022] UMPNet: Universal Manipulation Policy Network for Articulated Objects

[CoRL 2020] Learning 3D Dynamic Scene Representations for Robot Manipulation

[ICRA 2021] SSCNav: Confidence-Aware Semantic Scene Completion for Visual Semantic Navigation