🤖 Physical AI (Robotics & Embodied AI) 분야의 오픈소스 모델, 데이터셋, 시뮬레이터를 체계적으로 정리한 큐레이션 리스트. A curated list of open-source models, datasets, and simulators for Physical AI (Robotics & Embodied AI).
스타 수 기준 내림차순 정렬 | Sorted by GitHub stars (auto-updated weekly)
| Name | Organization | Year | Category | Hardware | Learning | ⭐ Stars | Links |
|---|---|---|---|---|---|---|---|
| LeRobot | Hugging Face | 2024 | manipulation | manipulator | IL, diffusion, VLA | 24,952 | 📄 🤗 |
| π0 (pi-zero) | Physical Intelligence | 2024 | manipulation, whole-body | manipulator, humanoid | VLA, diffusion | 12,331 | 📄 🤗 |
| GR00T N1 | NVIDIA | 2025 | manipulation, whole-body | humanoid | VLA, IL | 7,335 | 📄 🤗 |
| OpenVLA | Stanford / UC Berkeley | 2024 | manipulation | manipulator | VLA | 6,421 | 📄 🤗 |
| Mobile ALOHA | Stanford | 2024 | manipulation, navigation, whole-body | mobile, manipulator | IL | 4,439 | 📄 |
| Diffusion Policy | Columbia University | 2023 | manipulation | manipulator | IL, diffusion | 4,270 | 📄 |
| ACT (Action Chunking with Transformers) | Stanford | 2023 | manipulation, dexterous | manipulator | IL | 2,001 | 📄 |
| Octo | UC Berkeley / Stanford / CMU / others | 2023 | manipulation | manipulator, mobile | IL, VLA | 1,669 | 📄 🤗 |
| HumanPlus | Stanford | 2024 | manipulation, whole-body | humanoid | IL | 849 | 📄 |
| RoboVLMs | Multiple | 2025 | manipulation | manipulator | VLA, IL | 473 | 📄 🤗 |
| RoboFlamingo | ByteDance | 2023 | manipulation | manipulator | VLA | 434 | 📄 |
| GR-1 | BAAI / Beijing Academy of AI | 2024 | manipulation | manipulator | VLA, IL | 312 | 📄 |
| CrossFormer | UC Berkeley / others | 2024 | manipulation | manipulator, mobile | IL, VLA | 283 | 📄 🤗 |
| CogACT | Tsinghua University / Microsoft Research Asia | 2024 | manipulation | manipulator | VLA, diffusion | 0 | 📄 🤗 |
스타 수 기준 내림차순 정렬 | Sorted by GitHub stars (auto-updated weekly)
| Name | Organization | Year | Category | Source | Modality | Trajectories | ⭐ Stars | Links |
|---|---|---|---|---|---|---|---|---|
| ManiSkill2 | UC San Diego / Shanghai AI Lab | 2023 | manipulation, dexterous | simulation | rgb, rgbd, proprioception | 36,000 | 2,996 | 📄 🤗 |
| LIBERO | UMass Amherst / Bosch | 2023 | manipulation | simulation | rgb, proprioception | 130,000 | 1,941 | 📄 🤗 |
| Open X-Embodiment (OXE) | Google DeepMind / RT-X Team | 2023 | manipulation | real, teleoperation | rgb, rgbd, proprioception | 1,000,000 | 1,883 | 📄 🤗 |
| Meta-World | Stanford / Berkeley | 2019 | manipulation | simulation | proprioception | — | 1,836 | 📄 |
| HumanoidBench | CMU / UC San Diego / MIT | 2024 | locomotion, manipulation, whole-body | simulation | rgb, proprioception | — | 773 | 📄 |
| RoboAgent Dataset | CMU | 2023 | manipulation | real, teleoperation | rgb, proprioception | 7,500 | 372 | 📄 |
| DROID | UC Berkeley / Stanford / others | 2024 | manipulation | real, teleoperation | rgb, rgbd, proprioception | 76,000 | 371 | 📄 🤗 |
| Language-Table | 2023 | manipulation | real, simulation, teleoperation | rgb, proprioception | 600,000 | 360 | 📄 🤗 | |
| BridgeData V2 | UC Berkeley | 2023 | manipulation | real, teleoperation | rgb, proprioception | 60,096 | 282 | 📄 🤗 |
| RH20T | Shanghai AI Lab | 2023 | manipulation, dexterous | real, teleoperation | rgb, rgbd, tactile, proprioception, audio | 110,000 | 108 | 📄 |
| BEHAVIOR-1K | Stanford Vision and Learning Lab | 2024 | manipulation, navigation | simulation, teleoperation, human_demo | rgb, depth, proprioception | 10,000 | 0 | 📄 🤗 |
스타 수 기준 내림차순 정렬 | Sorted by GitHub stars (auto-updated weekly)
| Name | Organization | Year | Type | GPU | ROS2 | Language | ⭐ Stars | Paper |
|---|---|---|---|---|---|---|---|---|
| Genesis | Genesis Authors (MIT/CMU/Stanford) | 2024 | physics_engine | ✅ | — | python | 29,334 | 📄 |
| MuJoCo | DeepMind / Google | 2022 | physics_engine | — | — | c, python, c++ | 13,859 | 📄 |
| Isaac Lab | NVIDIA | 2023 | rl_framework | ✅ | ✅ | python | 7,438 | 📄 |
| dm_control | DeepMind | 2018 | benchmark | — | — | python | 4,616 | 📄 |
| Brax | 2021 | physics_engine | ✅ | — | python | 3,191 | 📄 | |
| Robosuite | Stanford / UT Austin | 2020 | benchmark | — | — | python | 2,462 | 📄 |
| RoboCasa | UT Austin | 2024 | full_stack | — | — | python | 1,461 | 📄 |
| SimplerEnv | UC Berkeley / Google | 2024 | benchmark | — | — | python | 1,087 | 📄 |
| SAPIEN | UC San Diego / others | 2020 | physics_engine | ✅ | — | python, c++ | 780 | 📄 |
| Isaac Sim | NVIDIA | 2025 | full_stack | ✅ | ✅ | Python, C++ | 0 | 📄 |
| MuJoCo Playground | Google DeepMind / UC Berkeley | 2025 | rl_framework | ✅ | — | Python (JAX, Warp) | 0 | 📄 |
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| Field | Valid Values |
|---|---|
categories |
manipulation · locomotion · navigation · dexterous · whole-body · aerial |
hardware |
manipulator · humanoid · quadruped · biped · mobile · drone · hand |
learning |
VLA · IL · RL · diffusion · world_model · sim2real |
framework |
pytorch · jax · tensorflow |
communication |
ros2 · grpc · lcm · zenoh · other |
| Field | Valid Values |
|---|---|
source |
real · simulation · teleoperation · human_demo · mocap |
modality |
rgb · rgbd · depth · lidar · tactile · proprioception · audio · force_torque |
📊 Stats auto-updated every Sunday via GitHub Actions · README auto-generated by scripts/generate_site.py