Awesome Embodied AI

A curated list of awesome projects, resources, and research related to Embodied AI and Humanoid Robotics.

Contents

• Introduction
• Scene Understanding
• Data Collection
• Action Output
• Open Source Projects
• Datasets
• Companies & Robots
• Research Papers
• Community

Introduction

Embodied Intelligence refers to AI systems that learn and interact through physical embodiment, often in robotics platforms. This list focuses on projects combining artificial intelligence with physical interaction capabilities.

Scene Understanding

Image Processing

	Description	Paper	Code
SAM	Segmentation	Paper	Code
YOLO-World	Open-Vocabulary Detection	Paper	Code

Point Cloud Processing

	Description	Paper	Code
SAM3D	Segmentation	Paper	Code
PointMixer	Understanding	Paper	Code

Multi-Modal Grounding

	Description	Paper	Code
GPT4V	MLM(Image+Language->Language)	Paper
Claude3-Opus	MLM(Image+Language->Language)	Paper
GLaMM	Pixel Grounding	Paper	Code
All-Seeing	Pixel Grounding	Paper	Code
LEO	3D	Paper	Code

Data Collection

From Video

	Description	Paper	Code
Vid2Robot		Paper
RT-Trajectory		Paper
MimicPlay		Paper	Code

Hardware

	Description	Paper	Code
UMI	Two-Fingers	Paper	Code
DexCap	Five-Fingers	Paper	Code
HIRO Hand	Hand-over-hand	Paper

Generative Simulation

	Description	Paper	Code
MimicGen		Paper	Code
RoboGen		Paper	Code

Action Output

Generative Imitation Learning

	Description	Paper	Code
Diffusion Policy		Paper	Code
ACT		Paper	Code

Affordance Map

	Description	Paper	Code
CLIPort	Pick&Place	Paper	Code
Robo-Affordances	Contact&Post-contact trajectories	Paper	Code
Robo-ABC		Paper	Code
Where2Explore	Few shot learning from semantic similarity	Paper
Move as You Say	Affordance to motion from diffusion model	Paper
AffordanceLLM	Grounding affordance with LLM	Paper
Environment-aware Affordance		Paper
OpenAD	Open-Voc Affordance Detection	Paper	Code
RLAfford	End-to-End affordance learning	Paper
General Flow	Collect affordance from video	Paper	Code
PreAffordance	Pre-grasping planning	Paper
ScenFun3d	Fine-grained functionality	Paper	Code

Question & Answer from LLM

	Description	Paper	Code
COPA		Paper
ManipLLM		Paper
ManipVQA		Paper	Code

Language Corrections

	Description	Paper	Code
OLAF		Paper
YAYRobot		Paper	Code

Planning from LLM

	Description	Paper	Code
SayCan	API Level	Paper	Code
VILA	Prompt Level	Paper

Open Source Projects

Simulation Environments

• Genesis - Genesis is a physics platform designed for general-purpose Robotics/Embodied AI/Physical AI applications. It is simultaneously multiple things: A universal physics engine re-built from the ground up, capable of simulating a wide range of materials and physical phenomena.; A lightweight, ultra-fast, pythonic, and user-friendly robotics simulation platform. [⭐22747]
• Habitat Sim - A flexible, high-performance 3D simulator for Embodied AI research. Habitat-Sim is typically used with Habitat-Lab, a modular high-level library for end-to-end experiments in embodied AI. [⭐5000]
• Isaac Sim - NVIDIA Isaac Sim™ is a reference application built on NVIDIA Omniverse that enables developers to simulate and test AI-driven robotics solutions in physically based virtual environments.
• MuJoCo - Physics engine for robotics, biomechanics, and graphics
• PyBullet - Physics simulation for robotics and machine learning
• Gazebo - Robot simulation environment
• SAPIEN - A SimulAted Part-based Interactive ENvironment
• Webots - Webots is an open source and multi-platform desktop application used to simulate robots. It provides a complete development environment to model, program and simulate robots.

Perceptions

Teleops & Retargeting

• AnyTeleop - A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
• Dex Retargeting - Various retargeting optimizers to translate human hand motion to robot hand motion.

Feedback Generation

• ChatTTS - A generative speech model for daily dialogue
• Real3D-Portrait - One-shot Realistic 3D Talking Portrait Synthesis
• Hallo2 - Long-Duration and High-Resolution Audio-driven Portrait Image Animation

Research Frameworks

Learning Frameworks

• MoveIt - Motion planning framework
• OMPL - Open Motion Planning Library
• Drake - Planning and control toolkit
• GR-1 - ByteDance Research: Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation
• Universal Manipulation Interface(UMI)
• Meta Motivo - A first-of-its-kind behavioral foundation model to control a virtual physics-based humanoid agent for a wide range of whole-body tasks.
• OpenVLA - OpenVLA sets a new state of the art for generalist robot manipulation policies. It supports controlling multiple robots out of the box and can be quickly adapted to new robot setups via parameter-efficient fine-tuning.

Datasets

Robot Learning Datasets & Models

• RoboNet - Large-scale robot manipulation dataset
• BEHAVIOR-1K - Dataset of human household activities
• Google Robot Data - Various robotics datasets
• Contact-GraspNet - Dataset for robotic grasping
• π0 - Opensource VLA models by Physical Intelligence

Human Motion Datasets

• AMASS - Large human motion dataset
• Human3.6M - Large-scale dataset for human sensing
• CMU Graphics Lab Motion Capture Database

Benchmarks

• CALVIN - CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks
• DexYCB - A Benchmark for Capturing Hand Grasping of Objects

Companies & Robots

Research Labs

• Berkeley AI Research (BAIR)
• Stanford Robotics & Embodied Artificial Intelligence Lab (REAL)
• MIT CSAIL
• Google Research
• UT Austin Robot Perception and Learning Lab (RPL)

Companies

• Boston Dynamics
• Agility Robotics
• Figure AI
• 1X Technologies
• Sanctuary AI
• Fourier Intelligence [Github] [Docs]
• AgiBot Github

Humanoid Robotics

• Atlas - Advanced humanoid robot by Boston Dynamics
• Digit - Bipedal robot by Agility Robotics
• Tesla Optimus - Tesla's humanoid robot project
• Figure 01 - General purpose humanoid robot
• Phoenix - Open-source humanoid robot design
• Fourier GR-2 - Fourier General Purpose Humanoid Robotics

Research Papers

• OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation
• GR-MG: Leveraging Partially Annotated Data via Multi-Modal Goal Conditioned Policy

Researchers

Yuke Zhu Yuzhe Qin Jim Fan

Community

Conferences

• RSS - Robotics: Science and Systems
• ICRA - International Conference on Robotics and Automation
• CoRL - Conference on Robot Learning
• IROS - International Conference on Intelligent Robots and Systems

Forums & Discussion

• ROS Discourse
• Robotics StackExchange
• Reddit r/robotics

Contributing

Please read the contribution guidelines before making a contribution.

License

This project is licensed under the MIT License - see the LICENSE file for details.