facebookresearch / polymetis
Write PyTorch controllers, test them in simulation, and seamlessly transfer to real-time hardware.
☆53Updated 3 years ago
Related projects ⓘ
Alternatives and complementary repositories for polymetis
- ☆47Updated 10 months ago
- Algorithms for deformable object manipulation benchmarked in SoftGym☆37Updated 2 years ago
- Code for R:SS 2021 paper RMP2: A Structured Composable Policy Class for Robot Learning.☆34Updated 3 years ago
- Online Replanning in Belief Space for Partially Observable Task and Motion Problems☆63Updated 2 years ago
- BayesSimIG: Scalable Parameter Inference for Adaptive Domain Randomization with Isaac Gym☆43Updated 3 years ago
- Wrappers and utilities for Nvidia IsaacGym☆93Updated 2 years ago
- A repository of various URDFs and assets needed for robot manipulation☆42Updated 4 years ago
- A python library for robot learning - An extension to PyRobot☆78Updated 8 months ago
- IsaacGym environment for Trifinger robot☆41Updated 3 years ago
- C++ Library for Interfacing with Libfranka and Frankapy☆48Updated 2 months ago
- ☆27Updated 10 months ago
- Code for Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes (Science Robotics)☆85Updated 7 months ago
- Official Implementation of CausalMoMa (RSS2023)☆19Updated last year
- [RSS 2022 Best Paper, Best Student Paper Finalist] Iterative Residual Policy for Goal-Conditioned Dynamic Manipulation of Deformable Obje…☆59Updated last year
- State-of-the-art method for model-based dexterous manipulation☆78Updated 3 months ago
- Sampling-based model predictive control on GPU with JAX/MJX☆60Updated last week
- Learning for Task and Motion Planning (LTAMP)☆51Updated 3 years ago
- A generel Python interface class for robot simulations using PyBullet. Also provides an IK interface for multi-end-effector robots that u…☆28Updated 3 months ago
- A codebase for RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning☆16Updated last year
- Code for SORNet: Spatial Object-Centric Representations for Sequential Manipulation in CoRL 2021 (Best Systems Paper Finalist)☆45Updated 2 years ago
- MuJoCo model of the Franka Emika Robot System☆51Updated last year
- Reinforcement Learning in PyTorch☆26Updated 3 years ago
- Franka panda mujoco models☆51Updated 7 months ago
- ☆28Updated last year
- Model definitions and Python API for controlling a Franka Emika Panda robot in the mujoco physics simulator.☆50Updated 2 years ago
- Implement Differentiable Kinematics Tree & Planning Objectives in PyTorch given URDF robot models.☆31Updated 3 months ago
- This repo contains the code for "Object Rearrangement Using Learned Implicit Collision Functions", an ICRA 2021 paper. For more informati…☆56Updated 3 years ago
- MuJoCo simulation for common furnitures☆33Updated 10 months ago
- Waypoint-Based Imitation Learning for Robotic Manipulation☆102Updated 8 months ago