Skip to content
Open
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
56 changes: 28 additions & 28 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
[![Datasets](https://img.shields.io/badge/Datasets-10-green)](https://pytorchkorea.github.io/Awesome-Physical-AI)
[![Simulators](https://img.shields.io/badge/Simulators-9-purple)](https://pytorchkorea.github.io/Awesome-Physical-AI)
[![Organizations](https://img.shields.io/badge/Organizations-28-orange)](https://pytorchkorea.github.io/Awesome-Physical-AI)
[![Updated](https://img.shields.io/badge/Updated-2026-06-14-lightgrey)](https://github.com/PyTorchKorea/Awesome-Physical-AI)
[![Updated](https://img.shields.io/badge/Updated-2026-06-21-lightgrey)](https://github.com/PyTorchKorea/Awesome-Physical-AI)
[![Dashboard](https://img.shields.io/badge/🌐_Dashboard-Live-brightgreen)](https://pytorchkorea.github.io/Awesome-Physical-AI)

> **[👉 인터랙티브 대시보드에서 필터링 및 시각화 보기 | View Interactive Dashboard](https://pytorchkorea.github.io/Awesome-Physical-AI)**
Expand All @@ -30,18 +30,18 @@

| Name | Organization | Year | Category | Hardware | Learning | ⭐ Stars | Links |
|------|-------------|------|----------|----------|----------|---------|-------|
| [LeRobot](https://github.com/huggingface/lerobot) | Hugging Face | 2024 | manipulation | manipulator | IL, diffusion, VLA | 24,952 | [📄](https://arxiv.org/abs/2408.01730) [🤗](https://huggingface.co/lerobot) |
| [π0 (pi-zero)](https://github.com/Physical-Intelligence/openpi) | Physical Intelligence | 2024 | manipulation, whole-body | manipulator, humanoid | VLA, diffusion | 12,331 | [📄](https://arxiv.org/abs/2410.24164) [🤗](https://huggingface.co/physical-intelligence/pi0) |
| [GR00T N1](https://github.com/NVIDIA/Isaac-GR00T) | NVIDIA | 2025 | manipulation, whole-body | humanoid | VLA, IL | 7,335 | [📄](https://arxiv.org/abs/2503.14734) [🤗](https://huggingface.co/nvidia/GR00T-N1-2B) |
| [OpenVLA](https://github.com/openvla/openvla) | Stanford / UC Berkeley | 2024 | manipulation | manipulator | VLA | 6,421 | [📄](https://arxiv.org/abs/2406.09246) [🤗](https://huggingface.co/openvla/openvla-7b) |
| [Mobile ALOHA](https://github.com/MarkFzp/mobile-aloha) | Stanford | 2024 | manipulation, navigation, whole-body | mobile, manipulator | IL | 4,439 | [📄](https://arxiv.org/abs/2401.02117) |
| [Diffusion Policy](https://github.com/real-stanford/diffusion_policy) | Columbia University | 2023 | manipulation | manipulator | IL, diffusion | 4,270 | [📄](https://arxiv.org/abs/2303.04137) |
| [ACT (Action Chunking with Transformers)](https://github.com/tonyzhaozh/act) | Stanford | 2023 | manipulation, dexterous | manipulator | IL | 2,001 | [📄](https://arxiv.org/abs/2304.13705) |
| [Octo](https://github.com/octo-models/octo) | UC Berkeley / Stanford / CMU / others | 2023 | manipulation | manipulator, mobile | IL, VLA | 1,669 | [📄](https://arxiv.org/abs/2405.12213) [🤗](https://huggingface.co/rail-berkeley/octo-base) |
| [LeRobot](https://github.com/huggingface/lerobot) | Hugging Face | 2024 | manipulation | manipulator | IL, diffusion, VLA | 25,150 | [📄](https://arxiv.org/abs/2408.01730) [🤗](https://huggingface.co/lerobot) |
| [π0 (pi-zero)](https://github.com/Physical-Intelligence/openpi) | Physical Intelligence | 2024 | manipulation, whole-body | manipulator, humanoid | VLA, diffusion | 12,438 | [📄](https://arxiv.org/abs/2410.24164) [🤗](https://huggingface.co/physical-intelligence/pi0) |
| [GR00T N1](https://github.com/NVIDIA/Isaac-GR00T) | NVIDIA | 2025 | manipulation, whole-body | humanoid | VLA, IL | 7,386 | [📄](https://arxiv.org/abs/2503.14734) [🤗](https://huggingface.co/nvidia/GR00T-N1-2B) |
| [OpenVLA](https://github.com/openvla/openvla) | Stanford / UC Berkeley | 2024 | manipulation | manipulator | VLA | 6,459 | [📄](https://arxiv.org/abs/2406.09246) [🤗](https://huggingface.co/openvla/openvla-7b) |
| [Mobile ALOHA](https://github.com/MarkFzp/mobile-aloha) | Stanford | 2024 | manipulation, navigation, whole-body | mobile, manipulator | IL | 4,440 | [📄](https://arxiv.org/abs/2401.02117) |
| [Diffusion Policy](https://github.com/real-stanford/diffusion_policy) | Columbia University | 2023 | manipulation | manipulator | IL, diffusion | 4,289 | [📄](https://arxiv.org/abs/2303.04137) |
| [ACT (Action Chunking with Transformers)](https://github.com/tonyzhaozh/act) | Stanford | 2023 | manipulation, dexterous | manipulator | IL | 2,011 | [📄](https://arxiv.org/abs/2304.13705) |
| [Octo](https://github.com/octo-models/octo) | UC Berkeley / Stanford / CMU / others | 2023 | manipulation | manipulator, mobile | IL, VLA | 1,675 | [📄](https://arxiv.org/abs/2405.12213) [🤗](https://huggingface.co/rail-berkeley/octo-base) |
| [HumanPlus](https://github.com/MarkFzp/humanplus) | Stanford | 2024 | manipulation, whole-body | humanoid | IL | 849 | [📄](https://arxiv.org/abs/2406.10454) |
| [RoboVLMs](https://github.com/Robot-VLAs/RoboVLMs) | Multiple | 2025 | manipulation | manipulator | VLA, IL | 473 | [📄](https://arxiv.org/abs/2412.14058) [🤗](https://huggingface.co/robovlms/RoboVLMs) |
| [RoboVLMs](https://github.com/Robot-VLAs/RoboVLMs) | Multiple | 2025 | manipulation | manipulator | VLA, IL | 475 | [📄](https://arxiv.org/abs/2412.14058) [🤗](https://huggingface.co/robovlms/RoboVLMs) |
| [RoboFlamingo](https://github.com/RoboFlamingo/RoboFlamingo) | ByteDance | 2023 | manipulation | manipulator | VLA | 434 | [📄](https://arxiv.org/abs/2311.01378) |
| [GR-1](https://github.com/bytedance/GR-1) | BAAI / Beijing Academy of AI | 2024 | manipulation | manipulator | VLA, IL | 312 | [📄](https://arxiv.org/abs/2312.13139) |
| [GR-1](https://github.com/bytedance/GR-1) | BAAI / Beijing Academy of AI | 2024 | manipulation | manipulator | VLA, IL | 310 | [📄](https://arxiv.org/abs/2312.13139) |
| [CrossFormer](https://github.com/rail-berkeley/crossformer) | UC Berkeley / others | 2024 | manipulation | manipulator, mobile | IL, VLA | 283 | [📄](https://arxiv.org/abs/2408.11812) [🤗](https://huggingface.co/rail-berkeley/crossformer) |

---
Expand All @@ -52,16 +52,16 @@

| Name | Organization | Year | Category | Source | Modality | Trajectories | ⭐ Stars | Links |
|------|-------------|------|----------|--------|----------|-------------|---------|-------|
| [ManiSkill2](https://github.com/haosulab/ManiSkill) | UC San Diego / Shanghai AI Lab | 2023 | manipulation, dexterous | simulation | rgb, rgbd, proprioception | 36,000 | 2,996 | [📄](https://arxiv.org/abs/2302.04659) [🤗](https://huggingface.co/datasets/haosulab/ManiSkill) |
| [LIBERO](https://github.com/Lifelong-Robot-Learning/LIBERO) | UMass Amherst / Bosch | 2023 | manipulation | simulation | rgb, proprioception | 130,000 | 1,941 | [📄](https://arxiv.org/abs/2306.03310) [🤗](https://huggingface.co/datasets/openvla/modified_libero_spatial) |
| [Open X-Embodiment (OXE)](https://github.com/google-deepmind/open_x_embodiment) | Google DeepMind / RT-X Team | 2023 | manipulation | real, teleoperation | rgb, rgbd, proprioception | 1,000,000 | 1,883 | [📄](https://arxiv.org/abs/2310.08864) [🤗](https://huggingface.co/datasets/jxu124/OpenX-Embodiment) |
| [Meta-World](https://github.com/Farama-Foundation/Metaworld) | Stanford / Berkeley | 2019 | manipulation | simulation | proprioception | — | 1,836 | [📄](https://arxiv.org/abs/1910.10897) |
| [HumanoidBench](https://github.com/carlosferrazza/humanoid-bench) | CMU / UC San Diego / MIT | 2024 | locomotion, manipulation, whole-body | simulation | rgb, proprioception | — | 773 | [📄](https://arxiv.org/abs/2403.10506) |
| [RoboAgent Dataset](https://github.com/robopen/roboagent) | CMU | 2023 | manipulation | real, teleoperation | rgb, proprioception | 7,500 | 372 | [📄](https://arxiv.org/abs/2309.01918) |
| [DROID](https://github.com/droid-dataset/droid) | UC Berkeley / Stanford / others | 2024 | manipulation | real, teleoperation | rgb, rgbd, proprioception | 76,000 | 371 | [📄](https://arxiv.org/abs/2403.12945) [🤗](https://huggingface.co/datasets/droid-dataset/droid) |
| [ManiSkill2](https://github.com/haosulab/ManiSkill) | UC San Diego / Shanghai AI Lab | 2023 | manipulation, dexterous | simulation | rgb, rgbd, proprioception | 36,000 | 3,022 | [📄](https://arxiv.org/abs/2302.04659) [🤗](https://huggingface.co/datasets/haosulab/ManiSkill) |
| [LIBERO](https://github.com/Lifelong-Robot-Learning/LIBERO) | UMass Amherst / Bosch | 2023 | manipulation | simulation | rgb, proprioception | 130,000 | 1,964 | [📄](https://arxiv.org/abs/2306.03310) [🤗](https://huggingface.co/datasets/openvla/modified_libero_spatial) |
| [Open X-Embodiment (OXE)](https://github.com/google-deepmind/open_x_embodiment) | Google DeepMind / RT-X Team | 2023 | manipulation | real, teleoperation | rgb, rgbd, proprioception | 1,000,000 | 1,893 | [📄](https://arxiv.org/abs/2310.08864) [🤗](https://huggingface.co/datasets/jxu124/OpenX-Embodiment) |
| [Meta-World](https://github.com/Farama-Foundation/Metaworld) | Stanford / Berkeley | 2019 | manipulation | simulation | proprioception | — | 1,838 | [📄](https://arxiv.org/abs/1910.10897) |
| [HumanoidBench](https://github.com/carlosferrazza/humanoid-bench) | CMU / UC San Diego / MIT | 2024 | locomotion, manipulation, whole-body | simulation | rgb, proprioception | — | 771 | [📄](https://arxiv.org/abs/2403.10506) |
| [RoboAgent Dataset](https://github.com/robopen/roboagent) | CMU | 2023 | manipulation | real, teleoperation | rgb, proprioception | 7,500 | 373 | [📄](https://arxiv.org/abs/2309.01918) |
| [DROID](https://github.com/droid-dataset/droid) | UC Berkeley / Stanford / others | 2024 | manipulation | real, teleoperation | rgb, rgbd, proprioception | 76,000 | 370 | [📄](https://arxiv.org/abs/2403.12945) [🤗](https://huggingface.co/datasets/droid-dataset/droid) |
| [Language-Table](https://github.com/google-research/language-table) | Google | 2023 | manipulation | real, simulation, teleoperation | rgb, proprioception | 600,000 | 360 | [📄](https://arxiv.org/abs/2210.01911) [🤗](https://huggingface.co/datasets/google/language_table) |
| [BridgeData V2](https://github.com/rail-berkeley/bridge_data_v2) | UC Berkeley | 2023 | manipulation | real, teleoperation | rgb, proprioception | 60,096 | 282 | [📄](https://arxiv.org/abs/2308.12952) [🤗](https://huggingface.co/datasets/rail-berkeley/bridge_orig) |
| [RH20T](https://github.com/rh20t/rh20t_api) | Shanghai AI Lab | 2023 | manipulation, dexterous | real, teleoperation | rgb, rgbd, tactile, proprioception, audio | 110,000 | 108 | [📄](https://arxiv.org/abs/2307.00595) |
| [RH20T](https://github.com/rh20t/rh20t_api) | Shanghai AI Lab | 2023 | manipulation, dexterous | real, teleoperation | rgb, rgbd, tactile, proprioception, audio | 110,000 | 109 | [📄](https://arxiv.org/abs/2307.00595) |

---

Expand All @@ -71,15 +71,15 @@

| Name | Organization | Year | Type | GPU | ROS2 | Language | ⭐ Stars | Paper |
|------|-------------|------|------|-----|------|----------|---------|-------|
| [Genesis](https://github.com/Genesis-Embodied-AI/Genesis) | Genesis Authors (MIT/CMU/Stanford) | 2024 | physics_engine | ✅ | — | python | 29,334 | [📄](https://arxiv.org/abs/2501.00599) |
| [MuJoCo](https://github.com/google-deepmind/mujoco) | DeepMind / Google | 2022 | physics_engine | — | — | c, python, c++ | 13,859 | [📄](https://arxiv.org/abs/2103.09615) |
| [Isaac Lab](https://github.com/isaac-sim/IsaacLab) | NVIDIA | 2023 | rl_framework | ✅ | ✅ | python | 7,438 | [📄](https://arxiv.org/abs/2301.04195) |
| [dm_control](https://github.com/google-deepmind/dm_control) | DeepMind | 2018 | benchmark | — | — | python | 4,616 | [📄](https://arxiv.org/abs/2006.12983) |
| [Brax](https://github.com/google/brax) | Google | 2021 | physics_engine | ✅ | — | python | 3,191 | [📄](https://arxiv.org/abs/2106.13281) |
| [Robosuite](https://github.com/ARISE-Initiative/robosuite) | Stanford / UT Austin | 2020 | benchmark | — | — | python | 2,462 | [📄](https://arxiv.org/abs/2009.12293) |
| [RoboCasa](https://github.com/robocasa/robocasa) | UT Austin | 2024 | full_stack | — | — | python | 1,461 | [📄](https://arxiv.org/abs/2406.02523) |
| [SimplerEnv](https://github.com/simpler-env/SimplerEnv) | UC Berkeley / Google | 2024 | benchmark | — | — | python | 1,087 | [📄](https://arxiv.org/abs/2405.05941) |
| [SAPIEN](https://github.com/haosulab/SAPIEN) | UC San Diego / others | 2020 | physics_engine | ✅ | — | python, c++ | 780 | [📄](https://arxiv.org/abs/2003.08515) |
| [Genesis](https://github.com/Genesis-Embodied-AI/Genesis) | Genesis Authors (MIT/CMU/Stanford) | 2024 | physics_engine | ✅ | — | python | 29,392 | [📄](https://arxiv.org/abs/2501.00599) |
| [MuJoCo](https://github.com/google-deepmind/mujoco) | DeepMind / Google | 2022 | physics_engine | — | — | c, python, c++ | 13,928 | [📄](https://arxiv.org/abs/2103.09615) |
| [Isaac Lab](https://github.com/isaac-sim/IsaacLab) | NVIDIA | 2023 | rl_framework | ✅ | ✅ | python | 7,492 | [📄](https://arxiv.org/abs/2301.04195) |
| [dm_control](https://github.com/google-deepmind/dm_control) | DeepMind | 2018 | benchmark | — | — | python | 4,619 | [📄](https://arxiv.org/abs/2006.12983) |
| [Brax](https://github.com/google/brax) | Google | 2021 | physics_engine | ✅ | — | python | 3,196 | [📄](https://arxiv.org/abs/2106.13281) |
| [Robosuite](https://github.com/ARISE-Initiative/robosuite) | Stanford / UT Austin | 2020 | benchmark | — | — | python | 2,470 | [📄](https://arxiv.org/abs/2009.12293) |
| [RoboCasa](https://github.com/robocasa/robocasa) | UT Austin | 2024 | full_stack | — | — | python | 1,476 | [📄](https://arxiv.org/abs/2406.02523) |
| [SimplerEnv](https://github.com/simpler-env/SimplerEnv) | UC Berkeley / Google | 2024 | benchmark | — | — | python | 1,096 | [📄](https://arxiv.org/abs/2405.05941) |
| [SAPIEN](https://github.com/haosulab/SAPIEN) | UC San Diego / others | 2020 | physics_engine | ✅ | — | python, c++ | 784 | [📄](https://arxiv.org/abs/2003.08515) |

---

Expand Down
52 changes: 26 additions & 26 deletions data/datasets.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -27,10 +27,10 @@
environments: 527
robots: 22
stats:
github_stars: 1883
hf_downloads: 20001
last_updated: '2026-06-14'
github_forks: 117
github_stars: 1893
hf_downloads: 19474
last_updated: '2026-06-21'
github_forks: 119
added_date: '2023-10-13'
tags:
- large-scale
Expand Down Expand Up @@ -66,10 +66,10 @@
environments: 564
robots: 1
stats:
github_stars: 371
github_stars: 370
hf_downloads: 0
last_updated: '2026-06-14'
github_forks: 79
last_updated: '2026-06-21'
github_forks: 81
added_date: '2024-03-19'
tags:
- in-the-wild
Expand Down Expand Up @@ -105,7 +105,7 @@
stats:
github_stars: 282
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
github_forks: 36
added_date: '2023-08-24'
tags:
Expand Down Expand Up @@ -145,9 +145,9 @@
environments: 0
robots: 10
stats:
github_stars: 108
github_stars: 109
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
github_forks: 14
added_date: '2023-07-02'
tags:
Expand Down Expand Up @@ -181,10 +181,10 @@
environments: 4
robots: 1
stats:
github_stars: 1941
github_stars: 1964
hf_downloads: 0
last_updated: '2026-06-14'
github_forks: 422
last_updated: '2026-06-21'
github_forks: 426
added_date: '2023-06-05'
tags:
- benchmark
Expand Down Expand Up @@ -220,10 +220,10 @@
environments: 20
robots: 8
stats:
github_stars: 2996
hf_downloads: 247
last_updated: '2026-06-14'
github_forks: 501
github_stars: 3022
hf_downloads: 278
last_updated: '2026-06-21'
github_forks: 504
added_date: '2023-02-09'
tags:
- benchmark
Expand Down Expand Up @@ -260,7 +260,7 @@
stats:
github_stars: 360
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
github_forks: 30
added_date: '2022-10-04'
tags:
Expand Down Expand Up @@ -297,10 +297,10 @@
environments: 27
robots: 1
stats:
github_stars: 773
github_stars: 771
hf_downloads: 0
last_updated: '2026-06-14'
github_forks: 122
last_updated: '2026-06-21'
github_forks: 123
added_date: '2024-03-15'
tags:
- humanoid
Expand Down Expand Up @@ -332,10 +332,10 @@
environments: 50
robots: 1
stats:
github_stars: 1836
github_stars: 1838
hf_downloads: 0
last_updated: '2026-06-14'
github_forks: 344
last_updated: '2026-06-21'
github_forks: 345
added_date: '2019-10-23'
tags:
- benchmark
Expand Down Expand Up @@ -370,9 +370,9 @@
environments: 38
robots: 1
stats:
github_stars: 372
github_stars: 373
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
github_forks: 30
added_date: '2023-09-05'
tags:
Expand Down
70 changes: 35 additions & 35 deletions data/models.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -21,10 +21,10 @@
- pytorch
communication: []
stats:
github_stars: 24952
github_forks: 4804
github_stars: 25150
github_forks: 4854
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
added_date: '2024-06-01'
tags:
- imitation-learning
Expand Down Expand Up @@ -55,10 +55,10 @@
- pytorch
communication: []
stats:
github_stars: 12331
github_forks: 2066
github_stars: 12438
github_forks: 2093
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
added_date: '2024-10-31'
tags:
- foundation-model
Expand Down Expand Up @@ -87,10 +87,10 @@
- pytorch
communication: []
stats:
github_stars: 6421
github_forks: 756
hf_downloads: 1198411
last_updated: '2026-06-14'
github_stars: 6459
github_forks: 763
hf_downloads: 1969410
last_updated: '2026-06-21'
added_date: '2024-06-13'
tags:
- VLA
Expand Down Expand Up @@ -119,10 +119,10 @@
- jax
communication: []
stats:
github_stars: 1669
github_forks: 268
hf_downloads: 48
last_updated: '2026-06-14'
github_stars: 1675
github_forks: 269
hf_downloads: 67
last_updated: '2026-06-21'
added_date: '2023-10-01'
tags:
- generalist
Expand Down Expand Up @@ -151,10 +151,10 @@
communication:
- ros2
stats:
github_stars: 2001
github_forks: 388
github_stars: 2011
github_forks: 391
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
added_date: '2023-04-01'
tags:
- ALOHA
Expand Down Expand Up @@ -183,10 +183,10 @@
- pytorch
communication: []
stats:
github_stars: 4270
github_forks: 782
github_stars: 4289
github_forks: 789
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
added_date: '2023-03-07'
tags:
- diffusion
Expand Down Expand Up @@ -217,10 +217,10 @@
communication:
- ros2
stats:
github_stars: 4439
github_forks: 730
github_stars: 4440
github_forks: 729
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
added_date: '2024-01-04'
tags:
- mobile-manipulation
Expand Down Expand Up @@ -252,7 +252,7 @@
github_stars: 849
github_forks: 122
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
added_date: '2024-06-14'
tags:
- humanoid
Expand Down Expand Up @@ -282,10 +282,10 @@
communication:
- ros2
stats:
github_stars: 7335
github_forks: 1255
hf_downloads: 144
last_updated: '2026-06-14'
github_stars: 7386
github_forks: 1271
hf_downloads: 207
last_updated: '2026-06-21'
added_date: '2025-03-19'
tags:
- humanoid
Expand Down Expand Up @@ -316,7 +316,7 @@
github_stars: 434
github_forks: 37
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
added_date: '2023-11-02'
tags:
- VLA
Expand Down Expand Up @@ -345,10 +345,10 @@
- pytorch
communication: []
stats:
github_stars: 312
github_stars: 310
github_forks: 15
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
added_date: '2024-01-01'
tags:
- video-pretraining
Expand Down Expand Up @@ -379,8 +379,8 @@
stats:
github_stars: 283
github_forks: 37
hf_downloads: 12
last_updated: '2026-06-14'
hf_downloads: 18
last_updated: '2026-06-21'
added_date: '2024-08-21'
tags:
- cross-embodiment
Expand Down Expand Up @@ -410,9 +410,9 @@
- pytorch
communication: []
stats:
github_stars: 473
github_stars: 475
github_forks: 21
hf_downloads: 0
last_updated: '2026-06-14'
last_updated: '2026-06-21'
added_date: '2026-05-17'
tags: []
Loading