Alternatives and similar repositories for SAPIEN

Users that are interested in SAPIEN are comparing it to the libraries listed below

• geng-haoran / Simulately
  A universal summary of current robotics simulators
  ☆484Updated this week
• NVlabs / RVT
  Official Code for RVT-2 and RVT
  ☆359Updated 5 months ago
• NVlabs / sim-web-visualizer
  Web Based Visualizer for Simulation Environments
  ☆357Updated last year
• StanfordVL / BEHAVIOR-1K
  BEHAVIOR-1K: a platform for accelerating Embodied AI research. Join our Discord for support: https://discord.gg/bccR5vGFEx
  ☆720Updated this week
• real-stanford / scalingup
  [CoRL 2023] This repository contains data generation and training code for Scaling Up & Distilling Down
  ☆392Updated 11 months ago
• PKU-EPIC / DexGraspNet
  ☆315Updated 6 months ago
• UM-ARM-Lab / pytorch_kinematics
  Robot kinematics implemented in pytorch
  ☆616Updated 3 months ago
• Dingry / BunnyVisionPro
  Bimanual Dexterous Teleoperation with Real-Time Retargeting using VisionPro
  ☆291Updated 10 months ago
• NVlabs / mimicgen
  This code corresponds to simulation environments used as part of the MimicGen project.
  ☆449Updated 3 months ago
• haosulab / ManiSkill-Legacy
  SAPIEN Manipulation Skill Benchmark (NeurIPS 2021 Track on Datasets and Benchmarks)
  ☆150Updated 2 years ago
• robocasa / robocasa
  RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
  ☆846Updated this week
• peract / peract
  Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
  ☆425Updated last year
• haosulab / MPlib
  a Lightweight Motion Planning Package
  ☆204Updated 8 months ago
• j96w / MimicPlay
  "MimicPlay: Long-Horizon Imitation Learning by Watching Human Play" code repository
  ☆278Updated last year
• vuer-ai / vuer
  Vuer is a 3D visualization tool for robotics and VR applications.
  ☆239Updated 3 weeks ago
• dexsuite / dex-retargeting
  Various retargeting optimizers to translate human hand motion to robot hand motion.
  ☆482Updated 3 months ago
• nickgkan / 3d_diffuser_actor
  Code for the paper "3D Diffuser Actor: Policy Diffusion with 3D Scene Representations"
  ☆333Updated 11 months ago
• YanjieZe / Improved-3D-Diffusion-Policy
  [IROS 2025] Generalizable Humanoid Manipulation with 3D Diffusion Policies. Part 1: Train & Deploy of iDP3
  ☆362Updated last month
• YanjieZe / 3D-Diffusion-Policy
  [RSS 2024] 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
  ☆957Updated last week
• PKU-EPIC / UniDexGrasp
  Official code for "UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy…
  ☆208Updated last year
• TATP-233 / DISCOVERSE
  ☆204Updated this week
• Xingyu-Lin / softgym
  SoftGym is a set of benchmark environments for deformable object manipulation.
  ☆308Updated 2 years ago
• simpler-env / SimplerEnv
  Evaluating and reproducing real-world robot manipulation policies (e.g., RT-1, RT-1-X, Octo) in simulation under common setups (e.g., Goo…
  ☆691Updated 3 months ago
• graspnet / anygrasp_sdk
  ☆584Updated 5 months ago
• robotgradient / grasp_diffusion
  Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home
  ☆313Updated last year
• kevinzakka / mujoco_scanned_objects
  MuJoCo Models for Google's Scanned Objects Dataset
  ☆218Updated 3 years ago
• xiaoxiaoxh / reactive_diffusion_policy
  [RSS 2025] Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
  ☆185Updated this week
• Large-Trajectory-Model / ATM
  Official codebase for "Any-point Trajectory Modeling for Policy Learning"
  ☆234Updated 3 weeks ago
• dexsuite / dex-urdf
  ☆209Updated 7 months ago
• carlosferrazza / humanoid-bench
  ☆600Updated last month