Awesome Physical AI

🤖 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).

👉 인터랙티브 대시보드에서 필터링 및 시각화 보기 | View Interactive Dashboard

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Contents

• Models
• Datasets
• Simulators & Tools
• How to Contribute
• Taxonomy

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🤖 Models

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	📄 🤗

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📦 Datasets

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	Google	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	📄

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🔬 Simulators & Tools

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	Google	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	📄

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🤝 How to Contribute

새 항목을 추가하려면 GitHub Issue를 열어주세요. To add a new entry, please open a GitHub Issue:

• ➕ Add a Model
• ➕ Add a Dataset
• ➕ Add a Simulator

이슈가 등록되면 봇이 자동으로 PR을 생성하고, 관리자가 검토 후 머지합니다. A bot will automatically create a PR from your issue for admin review.

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📐 Taxonomy

Models

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

Datasets

Field	Valid Values
source	real · simulation · teleoperation · human_demo · mocap
modality	rgb · rgbd · depth · lidar · tactile · proprioception · audio · force_torque

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