A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies

Code for "SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes"

Python SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.

Toolkit for the AI for Industry Challenge

Distributed Robot Interaction Dataset.

Simulate and Render MuJoCo in the Browser with 3DGS.

A MuJoCo to OpenUSD Data Converter

Simple MPM simulator based on Warp and Taichi. Modified from the original repo: https://github.com/zeshunzong/warp-mpm

Code implementation for RSS 2025 paper Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos

A generative world for general-purpose robotics & embodied AI learning.

An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

Open-source code of the paper: Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions.

[CoRL 2025] Neural Robot Dynamics

A curated collection of Python examples for optimization-based solid simulation, emphasizing algorithmic convergence, penetration-free, and inversion-free conditions, designed for readability and u…

Reinforcement learning in differentiable multiphysics simulation with NVIDIA Warp.

[CoRL 24] GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy

Code for "Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modeling" (CoRL 2024)

WebGL 3D Gaussian Splat Viewer

Python3 ROS Interface with the Franka Emika Panda robot arm. Includes support for OpenAI Gym based interfaces.

A MuJoCo/Gym environment for robot control using Reinforcement Learning. The task of agents in this environment is pixel-wise prediction of grasp success chances.

[ICLR 2023] FluidLab: A Differentiable Environment for Benchmarking Complex Fluid Manipulation

[RSS24] AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation

Code for Siggraph Asia paper

[CoRL 2024] RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation

A curated list of awesome scene representation(NeRFs) papers, code, and resources.

Curated list of papers and resources focused on 3D Gaussian Splatting, intended to keep pace with the anticipated surge of research in the coming months.

[CVPR 2024 Highlight] PhysGaussian: Physics-Integrated 3D Gaussians for Generative Dynamics

Customized Python APIs for NVIDIA FleX. Adapted from WangYixuan12/dyn-res-pile-manip and YunzhuLi/PyFleX.

A light MPC implemented using pytorch