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@real-stanford Robotics & Embodied Artificial Intelligence Lab (REAL)

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    50 repositories

    • behavior_prompting

      Public
      Behavior Prompting Policy: Demonstrations as Prompts for Manipulation
      Python
      •
      MIT License
      •7•93•1•0•Updated Sep 1, 2026Sep 1, 2026

    • real-env

      Public
      Shared codebase for real-world robot deployment
      Python
      •4•14•0•0•Updated Aug 18, 2026Aug 18, 2026

    • UMI-FT

      Public
      In-the-Wild Compliant Manipulation with UMI-FT
      Python
      •
      MIT License
      •13•104•4•0•Updated Aug 10, 2026Aug 10, 2026

    • gated-memory-policy

      Public
      Official Implementation of Paper [Gated Memory Policy], arXiv:2604.18933
      Python
      •
      MIT License
      •1•51•0•0•Updated Aug 9, 2026Aug 9, 2026

    • arx5-sdk

      Public
      C++ and Python controller for ARX5 robot arm developed by @yihuai-gao (@real-stanford)
      C++
      •
      MIT License
      •33•165•0•0•Updated Aug 6, 2026Aug 6, 2026

    • dice-rl

      Public
      From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning
      Python
      •
      MIT License
      •12•95•0•0•Updated Aug 4, 2026Aug 4, 2026

    • modpack

      Public
      ModPack: An Extensible Teleoperation Interface for Bimanual Mobile Manipulation
      Python
      •
      MIT License
      •1•13•0•0•Updated Jul 30, 2026Jul 30, 2026

    • transformer-transformer

      Public
      Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design
      roboticsco-designdiffusion-models
      roboticsco-designdiffusion-models
      Python
      •
      Other
      •11•130•0•0•Updated Jul 30, 2026Jul 30, 2026

    • rby1-wbc

      Public
      Python
      •
      MIT License
      •2•7•0•0•Updated Jul 21, 2026Jul 21, 2026

    • umi-on-legs

      Public
      UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
      reinforcement-learningroboticswhole-body-control
      reinforcement-learningroboticswhole-body-controlquadrupedrobotic-manipulation
      Python
      •
      MIT License
      •34•536•1•0•Updated Jul 20, 2026Jul 20, 2026

    • iPhUMI

      Public
      iPhUMI is a handheld data collection interface for training visuomotor robot manipulation policies and a hardware interface for behavior prompting.
      Python
      •
      MIT License
      •7•71•0•0•Updated Jul 4, 2026Jul 4, 2026

    • dfexpense

      Public
      Code for "Diffusion Filtered Exploration via Ensembles (DF-ExpEnse)" (ICML 2026)
      Python
      •0•10•0•0•Updated Jun 19, 2026Jun 19, 2026

    • universal_manipulation_interface

      Public
      Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
      Python
      •
      MIT License
      •287•1.6k•69•1•Updated May 26, 2026May 26, 2026

    • robologger

      Public
      Light-weight and efficient logging library for robot learning applications
      Python
      •2•1•0•0•Updated Apr 30, 2026Apr 30, 2026

    • DexUMI

      Public
      DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
      robotics
      robotics
      C
      •
      MIT License
      •29•258•6•1•Updated Apr 18, 2026Apr 18, 2026

    • get_zero

      Public
      GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization
      Python
      •4•60•0•0•Updated Mar 5, 2026Mar 5, 2026

    • minimalist_compliance_control

      Public
      Python
      •
      MIT License
      •10•100•2•0•Updated Mar 3, 2026Mar 3, 2026

    • detached-umi-policy

      Public
      Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
      Python
      •
      MIT License
      •287•4•0•0•Updated Nov 27, 2025Nov 27, 2025

    • cloth-funnels

      Public
      [ICRA 2023] This repository contains code for training and evaluating Cloth Funnels in simulation for Ubuntu 18.04.
      Python
      •
      MIT License
      •6•48•9•0•Updated Aug 23, 2025Aug 23, 2025

    • RoboPanoptes

      Public
      [RSS'25] RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity
      Python
      •
      MIT License
      •0•26•1•0•Updated Apr 17, 2025Apr 17, 2025

    • umi-arx

      Public
      Minimal UMI deployment environment for ARX5 robot arm
      Python
      •5•24•0•0•Updated Feb 25, 2025Feb 25, 2025

    • diffusion_policy

      Public
      [RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion
      robotics
      robotics
      Python
      •
      MIT License
      •834•4.5k•93•8•Updated Dec 24, 2024Dec 24, 2024

    • im2Flow2Act

      Public
      [CoRL 2024] Im2Flow2Act: Flow as the Cross-domain Manipulation Interface
      Python
      •
      MIT License
      •8•160•4•0•Updated Oct 17, 2024Oct 17, 2024

    • gpat

      Public
      [CoRL 2023] Rearrangement Planning for General Part Assembly
      Python
      •4•30•1•0•Updated Sep 26, 2024Sep 26, 2024

    • scalingup

      Public
      [CoRL 2023] This repository contains data generation and training code for Scaling Up & Distilling Down
      roboticslanguage-modelskill-learning
      roboticslanguage-modelskill-learning
      Python
      •25•414•7•1•Updated Aug 12, 2024Aug 12, 2024

    • maniwav

      Public
      [CoRL 2024] Official codebase of paper "ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data"
      Python
      •
      MIT License
      •287•67•0•0•Updated Jul 14, 2024Jul 14, 2024

    • dgdm

      Public
      [CoRL'24] Dynamics-Guided Diffusion Model for Robot Manipulator Design
      machine-learningrobotics
      machine-learningrobotics
      Python
      •2•47•1•0•Updated Jul 3, 2024Jul 3, 2024

    • xskill

      Public
      [CoRL 2023] XSkill: cross embodiment skill discovery
      robotics
      robotics
      Python
      •
      MIT License
      •13•73•5•0•Updated Mar 25, 2024Mar 25, 2024

    • reflect

      Public
      [CoRL 2023] REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction
      roboticslarge-language-models
      roboticslarge-language-models
      Jupyter Notebook
      •
      MIT License
      •11•109•0•0•Updated Mar 12, 2024Mar 12, 2024

    • cow

      Public
      [CVPR 2023] CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation
      Python
      •10•158•12•0•Updated Oct 29, 2023Oct 29, 2023
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