Software stack for loco-manipulation experiments across multiple humanoid platforms, with primary support for the Unitree G1. This repository provides whole-body control policies, a teleoperation stack, and a data exporter.

Official repo for GraspGen: A Diffusion-based Framework for 6-DOF Grasping

[ICLR 2026] rCM: SOTA JVP-Based Diffusion Distillation & Few-Step Video Generation & Scaling Up sCM/MeanFlow & Real-Time Autoregressive Video Diffusion

ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.

We propose a novel modular framework that learns to dynamically mix low-rank adapters (LoRAs) to improve visual analogy learning, enabling flexible and generalizable image edits based on example transformations.

[CVPR 2022 Oral] Official PyTorch Implementation of "GLAMR: Global Occlusion-Aware Human Mesh Recovery with Dynamic Cameras”.

[CVPR 2023] BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

[ICLR 2025] Official PyTorch Implementation of Gated Delta Networks: Improving Mamba2 with Delta Rule

Data Generation Pipeline for Mobility