• Lecture

Robot-RL

Robot Gym

Gym-Gazebo

Code: erlerobot/gym-gazebo

PyBullet-Gym

PyBullet Quickstart Guide

PyBullet-Robots

Pybullet-RoboCar

Blog:

Creating OpenAI Gym Environments with PyBullet (Part 1)
Creating OpenAI Gym Environments with PyBullet (Part 2)

Quadruped Motion Imitation

Code: PyTorch

Rex: an open-source quadruped robot

Code: nicrusso7/rex-gym

PyBullet-Gym for Drones

MJLab

Code: https://github.com/mujocolab/mjlab

Newton

git clone https://github.com/newton-physics/newton
cd newton

pip install "newton[examples]"
python -m newton.examples ik_h1

Flightmare

Flightmare is a flexible modular quadrotor simulator.

AirSim

Assistive Gym

Paper: Assistive Gym: A Physics Simulation Framework for Assistive Robotics

Code: Healthcare-Robotics/assistive-gym

  • Four collaborative robots (PR2, Jaco, Baxter, Sawyer)

  • Support for the Stretch and PANDA robots

Assistive VR Gym

Paper: Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots
Code: Healthcare-Robotics/assistive-vr-gym

Learning Dexity

Dexterous Gym

DexPilot

Paper: DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

TriFinger

Paper: TriFinger: An Open-Source Robot for Learning Dexterity

Code: TriFinger Robot Simulation

Multi-Task Reset-Free (MTRF) Learning

Paper: Reset-Free Reinforcement Learning via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention

Dexterous Anthropomorphic Robotic Hand

Blog: Robotic hand can crush beer cans and hold eggs without breaking them

Paper: Integrated linkage-driven dexterous anthropomorphic robotic hand

Robotic Telekinesis

PapeR: Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube

Fixed-Finger Gripper

Paper: F1 Hand: A Versatile Fixed-Finger Gripper for Delicate Teleoperation and Autonomous Grasping

Learning Diverse Dexterous Grasps

Paper: Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimization

ViLa

Blog: https://bangqu.com/9Fa2ra.html

Mobile ALOHA

Paper: Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Github: https://github.com/MarkFzp/mobile-aloha

Code: https://github.com/MarkFzp/act-plus-plus

ALOHA 2

Paper: ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation

ALOHA unleashed

Paper: ALOHA Unleashed: A Simple Recipe for Robot Dexterity

![](<iframe width="942" height="530" src="https://www.youtube.com/embed/1EAsn71O9yA" title="ALOHA Unleashed: Autonomous Policies" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>)

DemoStart

Paper: DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots

Blog: Our latest advances in robot dexterity

ReKep

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

Code: https://github.com/huangwl18/ReKep

Learning Dexity

Dexterous Gym

DexPilot

Paper: DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

TriFinger

Paper: TriFinger: An Open-Source Robot for Learning Dexterity

Code: TriFinger Robot Simulation

Multi-Task Reset-Free (MTRF) Learning

Paper: Reset-Free Reinforcement Learning via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention

Dexterous Anthropomorphic Robotic Hand

Blog: Robotic hand can crush beer cans and hold eggs without breaking them

Paper: Integrated linkage-driven dexterous anthropomorphic robotic hand

Robotic Telekinesis

Paper: Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube

Fixed-Finger Gripper

Paper: F1 Hand: A Versatile Fixed-Finger Gripper for Delicate Teleoperation and Autonomous Grasping

Learning Diverse Dexterous Grasps

Paper: Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimization

ViLa

Blog: https://bangqu.com/9Fa2ra.html

Mobile ALOHA

Paper: Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Github: https://github.com/MarkFzp/mobile-aloha

Code: https://github.com/MarkFzp/act-plus-plus

ALOHA 2

Paper: ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation

ALOHA unleashed

Paper: ALOHA Unleashed: A Simple Recipe for Robot Dexterity

![](<iframe width="942" height="530" src="https://www.youtube.com/embed/1EAsn71O9yA" title="ALOHA Unleashed: Autonomous Policies" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>)

DemoStart

Paper: DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots

Blog: Our latest advances in robot dexterity

ReKep

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

Code: https://github.com/huangwl18/ReKep

<iframe width=644” height=”363” src=”https://www.youtube.com/embed/2S8YhBdLdww” title=”ReKep Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation” frameborder=”0” allow=”accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share” referrerpolicy=”strict-origin-when-cross-origin” allowfullscreen></iframe>

Open-Source Robots

LeRobot

SO-101

Code: https://github.com/huggingface/lerobot

MEVITA

Paper: MEVITA: Open-Source Bipedal Robot Assembled from E-Commerce Components via Sheet Metal Welding

Code: https://github.com/haraduka/mevita

OpenDuck Mini

Code: https://github.com/apirrone/Open_Duck_Mini

MicroDuck

Code: https://github.com/pollen-robotics/microduck

RL: https://github.com/pollen-robotics/microduck_rl



This site was last updated September 10, 2026.

  • rl
  • robotics