Xiaohan Lei

Horosa-Web-App-comprehensively-improved-MacOS. 十项全能玄学术数工作站Mac端，包含：紫微斗数、八字、占星、六壬、遁甲、太乙、六爻、统摄法、风水、绝大部分主流推运技法（包括正统主限法）、内置AI分析、玄学史、高质量生时数据库、以及其他小众命卜技术等等。于旧星阙Horosa基础上改良制作，请不要忘记爽哥和郑大哥的贡献。

RLinf. RLinf: Reinforcement Learning Infrastructure for Embodied and Agentic AI

drawio-skills. drawio skills for cc,codex

VeOmni. VeOmni: Scaling Any Modality Model Training with Model-Centric Distributed Recipe Zoo

EvoScientist. 🔬 Harness Vibe Research with Self-evolving AI Scientists

bazi-mcp. MCP server for Bazi (八字) information

ASAP. [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

resume-ng. A LaTeX resume template designed for optimal information density and aesthetic appeal.

Awesome-Embodied-AI-Job. Lumina Robotics Talent Call | Lumina社区具身智能招贤榜 | A list for Embodied AI / Robotics Jobs (PhD, RA, intern, etc

SAT. [CVPR 2026 Oral] Structural Action Transformer for 3D Dexterous Manipulation

PF-DAG. Official Implementation of ICLR2026 paper Primary-Fine Decoupling for Action Generation in Robotic Imitation.

bazi. python八字排盘软件。清晰看出冲刑合会、阴阳等关系，并有凝聚大师多年经验的评判。另有合婚、风水等功能。

starloom. 天机阁，一个基于AI的算命与占卜系统

chatgpt-tarot-divination. AI 算命，占卜，塔罗牌，姓名五格，周公解梦，生辰八字，梅花易数

sam3. The repository provides code for running inference and finetuning with the Meta Segment Anything Model 3 (SAM 3), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.

ICLR-Score-Analysis-Predictor. Python

RoboTwin. [ICML 2026] RoboTwin 2.0 Offical Repo

Depth-Anything-3. Depth Anything 3

DiffuEraser. DiffuEraser is a diffusion model for video inpainting, which performs great content completeness and temporal consistency while maintaining acceptable efficiency.

UniAct. [CVPR 2025] The offical Implementation of "Universal Actions for Enhanced Embodied Foundation Models"

AI-Trader. "AI-Trader: 100% Fully-Automated Agent-Native Trading"

SearchPaperByEmbedding. Python

dex-urdf. Python

BaiduPCS-Go. iikira/BaiduPCS-Go原版基础上集成了分享链接/秒传链接转存功能

HOI4D-Instructions. The official instructions of HOI4D dataset.

hot3d. HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videos, CVPR 2025

dinov3. Reference PyTorch implementation and models for DINOv3

LenovoLegionLinux. Driver and tools for controlling Lenovo Legion laptops in Linux including fan control and power mode.

fpsample. Python efficient farthest point sampling (FPS) library. Compatible with numpy.

ikpy. IKPy, an Universal Inverse Kinematics library

pinocchio. A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

pink. Python inverse kinematics using Pinocchio and QP solvers

gello_software. Python

webxr-handtracking. 👐 WebXR hand tracking examples

dex-retargeting. Various retargeting optimizers to translate human hand motion to robot hand motion.

xr_teleoperate. This repository implements teleoperation of the Unitree humanoid robot using XR Devices.

TeleVision. [CoRL 2024] Open-TeleVision: Teleoperation with Immersive Active Visual Feedback

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

telegrip. VR teleoperation of robot arms

Eureka. Official Repository for "Eureka: Human-Level Reward Design via Coding Large Language Models" (ICLR 2024)

nerfies.github.io. JavaScript

DexGrasp-Anything. CVPR 2025(Highlight) DexGraspAnything: Towards Universal Robotic Dexterous Grasping with Physics Awareness

RadarHD. High resolution point clouds from mmWave radar

DeltaFM. [ICCV 2025] Official Implementation of Contrastive Flow Matching

GPT_API_free. Free ChatGPT&DeepSeek API Key，免费ChatGPT&DeepSeek API。免费接入DeepSeek API和GPT4 API，支持 gpt | deepseek | claude | gemini | grok 等排名靠前的常用大模型。

VoxPoser. VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

3D-Diffusion-Policy. [RSS 2024] 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations

Open-Teach. A Versatile Teleoperation framework for Robotic Manipulation using Meta Quest3

RoboVerse. RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

genie_sim. Simulation Platform from AgiBot

pyroki. A Modular Toolkit for Robot Kinematic Optimization

pytorch_kinematics. Robot kinematics implemented in pytorch

RIO. Optimization Based and Point Uncertainty Aware Radar-inertial Odometry for 4D Radar System

ars548_ros. 这是一个功能完善的大陆ars548毫米波雷达ros1驱动程序

dot. Dense Optical Tracking: Connecting the Dots

co-tracker. CoTracker is a model for tracking any point (pixel) on a video.

flow_matching. Affordance-based Robot Manipulation with Flow Matching

openpi. Python

open-pi-zero. Re-implementation of pi0 vision-language-action (VLA) model from Physical Intelligence

ars548_ros. ROS2 driver for the Continental ARS548 Radar 4D

Isaac-GR00T. NVIDIA Isaac GR00T N1.7 - A Foundation Model for Generalist Robots.

llm-cookbook. 面向开发者的 LLM 入门教程，吴恩达大模型系列课程中文版

RIV-SLAM. RIV-SLAM: Radar-Inertial-Velocity optimization based graph SLAM

RoboticsDiffusionTransformer. RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation

4DRadarSLAM. C++

SC-A-LOAM. Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

navtech-radar-slam. Real-time Radar SLAM: ORORA + ScanContext

infinigen. Infinite Photorealistic Worlds using Procedural Generation

AgiBot-World. [IROS 2025 Best Paper Award Finalist & IEEE TRO 2026] The Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems

yt-dlp. A feature-rich command-line audio/video downloader

FetchBench-CORL2024. Python

cosmos. NVIDIA Cosmos is an open platform of world models, datasets, and tools that enables developers to build Physical AI for robots, autonomous vehicles, smart infrastructure, and more.

genesis-world. Simulation platform for general-purpose robotics & embodied AI learning.

ManiSkill-ViTac2025. The official repository for ManiSkill-ViTac2025

Segment-Everything-Everywhere-All-At-Once. [NeurIPS 2023] Official implementation of the paper "Segment Everything Everywhere All at Once"

Model-Predictive-Control-Implementation-in-Python-1. Here, we post the codes that implement the Model Predictive Controller (MPC) for linear systems.

curobo. CUDA Accelerated Robot Library

ReKep. ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Awesome-Embodied-AI. Curated list of papers and resources focused on Embodied AI, intended to keep pace with the anticipated surge of research in the coming months.

GithubStars. Chrome Extension: Displays GitHub repo stars on a webpage

gauss_demo. Collect dataset using realsense

YOLO-World. [CVPR 2024] Real-Time Open-Vocabulary Object Detection

GraspNeRF. [ICRA 2023] GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF

Awesome-explainable-AI. A collection of research materials on explainable AI/ML

InternUtopia. A simulation platform for versatile Embodied AI research and developments.

XarmDemo. This is the key-point based multi-task robot manipulation demo collection code, using Xarmv7 and Intel RealSense L515.

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) (CoRL 2024)

calvin. CALVIN - A benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks

storm. An LLM-powered knowledge curation system that researches a topic and generates a full-length report with citations.

bigym. Demo-Driven Mobile Bi-Manual Manipulation Benchmark.

LibMTL. A PyTorch Library for Multi-Task Learning

RotationContinuity. Coder for "On the Continuity of Rotation Representations"

openpoints. OpenPoints: a library for easily reproducing point-based methods for point cloud understanding. The engine for [ASSANet](https://arxiv.org/abs/2110.10538), [PointNeXt](https://arxiv.org/abs/2206.04670)

policy-guided-diffusion. Official implementation of the RLC 2024 paper "Policy-Guided Diffusion"

robot-colosseum. A Benchmark for Evaluating Generalization for Robotic Manipulation

pytorch_geometric. Graph Neural Network Library for PyTorch

RVT. Official Code for RVT-2 and RVT

Awesome-Touch. Tactile Sensing • Data Collection • IL/RL/VLA/WM • Manipulation • Simulation • Open Source

DiffTactile. [ICLR 2024] DiffTactile: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation

ManiSkill-ViTac2024. Official Repo for ManiSkill-ViTac Challenge 2024

ManiSkill-Learn. ManiSkill-Learn is a framework for training agents on SAPIEN Open-Source Manipulation Skill Challenge (ManiSkill Challenge), a physics-rich manipulation skill benchmark with large-scale demonstrations.

hdp. [CVPR 2024] Hierarchical Diffusion Policy for Multi-Task Robotic Manipulation

DiT. Official PyTorch Implementation of "Scalable Diffusion Models with Transformers"

RLBench. A large-scale benchmark and learning environment.

pykan. Kolmogorov Arnold Networks

dora. DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed dataflow capabilities. Applications are modeled as directed graphs, also referred to as pipelines.

diffusion_policy. [RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

AR2. 6 axis stepper motor robot and control software - Gen2

gym-xarm. A gym environment for xArm

transferlearning. Transfer learning / domain adaptation / domain generalization / multi-task learning etc. Papers, codes, datasets, applications, tutorials.-迁移学习

bullet3. Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

lerobot. 🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

OpenSfM. Open source Structure-from-Motion pipeline

evo. Python package for the evaluation of odometry and SLAM

Gaussian-Splatting-Toolkit. The Gaussian Splatting Toolkit is a cutting-edge collection of tools designed for new view synthesis using Gaussian splatting techniques, providing a novel explicit 3D representation for scene rendering.

easy_aruco. ROS wrapper for the OpenCV integration of ArUco and ChArUco

dust3r. DUSt3R: Geometric 3D Vision Made Easy

feature-3dgs. [CVPR 2024 Highlight] Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fields

ManiGaussian. [ECCV 2024] ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation

IEVE. PyTorch implementation of CVPR 2024 paper: Instance-aware Exploration-Verification-Exploitation for Instance ImageGoal Navigation

LEGaussians. Pytorch Code for "[CVPR24, TPAMI25] LEGaussians: Language Embedded 3D Gaussians for Open-Vocabulary Scene Understanding"

UniVS. Code release for "UniVS: Unified and Universal Video Segmentation with Prompts as Queries" (CVPR2024)

Flow-Guided-Feature-Aggregation. Flow-Guided Feature Aggregation for Video Object Detection

CLIP-VIS. [IEEE TCSVT] Official Pytorch Implementation of CLIP-VIS: Adapting CLIP for Open-Vocabulary Video Instance Segmentation.

LVVIS. Large-Vocabulary Video Instance Segmentation dataset

GaussNav. PyTorch implementation of paper: GaussNav: Gaussian Splatting for Visual Navigation

graspnet-baseline. Baseline model for "GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping" (CVPR 2020)

HandEyeCalibration-using-OpenCV. Simple opencv implementation for handeye calibration

hand_eye_calibration. Python tools to perform time-synchronization and hand-eye calibration.

easy_handeye. Automated, hardware-independent Hand-Eye Calibration

anygrasp_sdk. Python

GaussianShader. code for GaussianShader: 3D Gaussian Splatting with Shading Functions for Reflective Surfaces

ovon. Open Vocabulary Object Navigation

BlenderNeRF. Easy NeRF synthetic dataset creation within Blender

gdown. Google Drive public file downloader when curl/wget fails.

rembg. Rembg is a tool to remove images background

inerf. 6DoF Pose Estimation using Neural Radiance Fields

SuGaR. [CVPR 2024] Official PyTorch implementation of SuGaR: Surface-Aligned Gaussian Splatting for Efficient 3D Mesh Reconstruction and High-Quality Mesh Rendering

drive. Google Drive client for the commandline

LangSplat. Official implementation of the paper "LangSplat: 3D Language Gaussian Splatting" [CVPR2024 Highlight]

f3rm. F3RM: Feature Fields for Robotic Manipulation. Official repo for the paper "Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation" (CoRL 2023).

tdmpc2. Code for "TD-MPC2: Scalable, Robust World Models for Continuous Control"

awesome-rl. Reinforcement learning resources curated

ROT. Code for Watch and Match: Supercharging Imitation with Regularized Optimal Transport

mvp. Masked Visual Pre-training for Robotics

act. Python

aloha. Python

mujoco. Multi-Joint dynamics with Contact. A general purpose physics simulator.

LIBERO. Benchmarking Knowledge Transfer in Lifelong Robot Learning

ravens. Train robotic agents to learn pick and place with deep learning for vision-based manipulation in PyBullet. Transporter Nets, CoRL 2020.

contact_graspnet. Efficient 6-DoF Grasp Generation in Cluttered Scenes

awesome-computer-vision. A curated list of awesome computer vision resources

alfworld. ALFWorld: Aligning Text and Embodied Environments for Interactive Learning

drake. Model-based design and verification for robotics.

ManiSkill. Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark

NN-CUDA-Example. Several simple examples for popular neural network toolkits calling custom CUDA operators.

splat. WebGL 3D Gaussian Splat Viewer

mamba. Mamba SSM architecture

AMP_for_hardware. Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

legged_gym. Isaac Gym Environments for Legged Robots

zipnerf-pytorch. Unofficial implementation of ZipNeRF

simpleICP. Implementations of a rather simple version of the Iterative Closest Point algorithm in various languages.

Hierarchical-Localization. Visual localization made easy with hloc

spear. SPEAR: A Simulator for Photorealistic Embodied AI Research

NSVF. Open source code for the paper of Neural Sparse Voxel Fields.

DSNeRF. Code release for DS-NeRF (Depth-supervised Neural Radiance Fields)

SplaTAM. SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM (CVPR 2024)

FastChat. An open platform for training, serving, and evaluating large language models. Release repo for Vicuna and Chatbot Arena.

LLaVA. [NeurIPS'23 Oral] Visual Instruction Tuning (LLaVA) built towards GPT-4V level capabilities and beyond.

3D-VisTA. Official implementation of ICCV 2023 paper "3D-VisTA: Pre-trained Transformer for 3D Vision and Text Alignment"

navigation. ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

ros_motion_planning. Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.

SQA3D. [ICLR 2023] SQA3D for embodied scene understanding and reasoning

The-C-20-Masterclass-Source-Code. Source code for the C++ 20 Masterclass on udemy

mini_behavior. MiniGrid Implementation of BEHAVIOR Tasks

BEHAVIOR-1K. BEHAVIOR-1K: a platform for accelerating Embodied AI research. Join our Discord for support: https://discord.gg/bccR5vGFEx

Awesome-Embodied-AI. A curated list of awesome papers on Embodied AI and related research/industry-driven resources.

awesome-3D-gaussian-splatting. 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.

gaussian-splatting-lightning. A 3D Gaussian Splatting framework with various derived algorithms and an interactive web viewer

nerfstudio. A collaboration friendly studio for NeRFs

gaussian-splatting. Original reference implementation of "3D Gaussian Splatting for Real-Time Radiance Field Rendering"

nerf-pytorch. A PyTorch implementation of NeRF (Neural Radiance Fields) that reproduces the results.

DeepMimic. Motion imitation with deep reinforcement learning.

anonymous_github. Anonymous Github is a proxy server to support anonymous browsing of Github repositories for open-science code and data.

cvpr-latex-template. Extended LaTeX template for CVPR/ICCV papers

latex-conference-template. Latex template for conference (e.g. ICCV/CVPR) submission/supplementary/rebuttal

Paper-Writing-Tips. MLNLP社区用来帮助大家避免论文投稿小错误的整理仓库。 Paper Writing Tips

siamese-mask-rcnn. Siamese Mask R-CNN model for one-shot instance segmentation

CLIP_Surgery. [Pattern Recognition 25] CLIP Surgery for Better Explainability with Enhancement in Open-Vocabulary Tasks

cow. [CVPR 2023] CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation

alfred. ALFRED - A Benchmark for Interpreting Grounded Instructions for Everyday Tasks

AirVLN. Python

MentisOculi. A raytracer written in PyTorch (raynet?)

pytorch3d. PyTorch3D is FAIR's library of reusable components for deep learning with 3D data

fast-reid. SOTA Re-identification Methods and Toolbox

Awesome-EmbodiedAI. A curated list about Awesome Embodied AI works and is still in construct. Now it contains a list of Simulators, Tasks and Datasets.

OV-3DET. Python

prompts.chat. f.k.a. Awesome ChatGPT Prompts. Share, discover, and collect prompts from the community. Free and open source — self-host for your organization with complete privacy.

dinov2. PyTorch code and models for the DINOv2 self-supervised learning method.

home-robot. Mobile manipulation research tools for roboticists