Related Works

🤗Here are all the works, both from robotics research and from the LeRobot community, that I found interesting, meaningful, and have potential for future applications on XLeRobot.

Blogs

Analytical IK for SO101

👀 Perception

DRAWER: Convenient Real2Sim with Articulations

DRAWER: Digital Reconstruction and Articulation with Environment Realism

CoTracker

CoTracker3: Simpler and Better Point Tracking by Pseudo-Labelling Real Videos

🧠 High-level Task Planning

VJEPA-2: A Self-supervised Foundation World Model

Introducing V-JEPA 2

🙌 Low-level Motion Control

HIL-SERL: Current SOTA (personal opinion) for RL

HIL-SERL: Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning

HIL-SERL LeRobot Training Guide

Caging in Time: A Planning Framework for Robust Object Manipulation

Caging in Time: A Framework for Robust Object Manipulation under Uncertainties and Limited Robot Perception

👨‍🔧 Hardware

3D Vitac: Low-cost Velostat Tactile Sensor

3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing

E-flesh: Low-cost Magnetic Tactile Sensor

eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructures

BACH hand: Belt-driven Active Surface Finger

Belt–Augmented Compliant Hand

💻 Simulation

Maniskill: Light-weight GPU-accelerated Manipulation-focused Simulator

ManiSkill — ManiSkill 3.0.0b21 documentation

RoboTwin: Large bimanual Manipulation Benchmark based on Maniskill

RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation

🧑‍🍳 Developing

Bambot: Web-based Control Panel

BamBot by Tim Qian

BamBot Feetech Servo Control Panel - feetech.js

Model Context Protocol (MCP)

• Using MCP on Lerobot SO101 arm

• The official website of MCP

3D-reconstruction

Hunyuan3D-2

Maniskill Sim2real RL

lerobot-sim2real by Stone Tao