liruiw
MIT CSAIL PhD. Foundation Model and Robotics. Previously NVIDIA and UW CSE.
MIT CSAILCambridge, MA
Pinned Repositories
Clip-Seg
Open-Text Semantics Segmentation for Robotics Manipulation
Dec-SSL
Understanding Self-Supervised Learning in a non-IID Setting
Fleet-Tools
Tool-use Robotic Benchmark built with Drake Simulation
GA-DDPG
6D Grasping Policy from Point Clouds
GenSim
GenSim: Generating Robotic Simulation Tasks via Large Language Models
HCG
Cluttered-Scene 6D Grasping with Latent Plans
HPT
Heterogeneous Pre-trained Transformer (HPT) is a scalable policy learner for robotics.
OMG-Planner
An Optimization-based Motion and Grasp Planner
Pointnet2_PyTorch
PyTorch implementation of Pointnet2/Pointnet++
ycb_renderer
liruiw's Repositories
liruiw/GenSim
GenSim: Generating Robotic Simulation Tasks via Large Language Models
liruiw/HPT
Heterogeneous Pre-trained Transformer (HPT) is a scalable policy learner for robotics.
liruiw/OMG-Planner
An Optimization-based Motion and Grasp Planner
liruiw/GA-DDPG
6D Grasping Policy from Point Clouds
liruiw/Dec-SSL
Understanding Self-Supervised Learning in a non-IID Setting
liruiw/Fleet-Tools
Tool-use Robotic Benchmark built with Drake Simulation
liruiw/HCG
Cluttered-Scene 6D Grasping with Latent Plans
liruiw/ycb_renderer
liruiw/Pointnet2_PyTorch
PyTorch implementation of Pointnet2/Pointnet++
liruiw/Clip-Seg
Open-Text Semantics Segmentation for Robotics Manipulation
liruiw/lerobot
HPT LeRobot Implementation Version
liruiw/robotPose
7-dof Robot Arm Kinematics and Grasp Utilities
liruiw/franka_ros_interface
A ROS/Python API for controlling and managing the Franka Emika Panda robot (real and simulated). Contains exposed controllers for the robot (joint position, velocity, torque), interfaces for the gripper, controller manager, coordinate frames interface, etc. Provides almost complete sim-to-real / real-to-sim transfer of code.
liruiw/llama-recipes
Examples and recipes for Llama 2 model
liruiw/blender_server
liruiw/CoACD
Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search [SIGGRAPH2022]
liruiw/drake
Model-based design and verification for robotics.
liruiw/manipulation
Course notes for MIT manipulation class
liruiw/nerf-supervision-public
liruiw/orocos_kinematics_dynamics
Orocos Kinematics and Dynamics C++ library
liruiw/robomasters_ros
liruiw/SimplerEnv
Evaluating and reproducing real-world robot manipulation policies (e.g., RT-1, RT-1-X, Octo) in simulation under common setups (e.g., Google Robot, WidowX+Bridge)