A flexible, high-performance 3D simulator for Embodied AI research.

A modular high-level library to train embodied AI agents across a variety of tasks and environments.

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

Perception toolkit for sim2real training and validation in Unity

Gibson Environments: Real-World Perception for Embodied Agents

TensorFlow Implementation for Computing a Semantically Segmented Bird's Eye View (BEV) Image Given the Images of Multiple Vehicle-Mounted Cameras.

Deploy walk-these-ways project on Unitree Go2

BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning

Deep Reinforcement Learning for Robotic Grasping from Octrees

ROS2-Control implementations for Quadruped robots, include sim2real

Great resources for making Reinforcement Learning work in Real Life situations. Papers,projects and more.

PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encoders.

LeRobot sim2real code. Train in fast simulation and deploy visual policies zero shot to the real world

Shenzhen MSU-BIT University PolarBear Team's Sentry Navigation Sim2Real Package for RoboMaster2025. QQ group: 932119307

ROS2-Gazebo simulation package leveraging Mid360 and FASTLIO for navigation.

Python SDK for LuckyEngine robotics simulation

CausalWorld: A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning

a comprehensive and critical synthesis of the emerging role of GenAI across the full autonomous driving stack

Train a Unitree G1 humanoid to perform a double spin kick using mjlab

Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.

VR-Caps: A Virtual Environment for Active Capsule Endoscopy

Using Catalyst.RL to train a robot to perform peg-in-hole insertion in simulation.

Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"

Suite of PyBullet reinforcement learning environments targeted towards using tactile data as the main form of observation.

AwesomeSim2Real - An update-to-date Sim-to-Real repo of "Survey of Sim-to-Real Methods in RL: Progress, Prospects and Challenges with Foundation Models"

[ICRA, 2025] SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting

This is a repository for RobustDexGrasp, which achieves robust dexterous grasping of 500+ unseen objects with random poses from single-view perception.

An end-to-end, GPU-accelerated, and modular platform for building generalized Embodied Intelligence.

Official code for CVPR'23 paper: Learning Human-to-Robot Handovers from Point Clouds