Embodied Scenarios
================================

This category includes embodied training examples with SOTA models (e.g., pi0, pi0.5, OpenVLA-OFT) and different benchmarks (e.g., LIBERO, ManiSkill, RoboTwin, MetaWorld),
as well as reinforcement learning training examples on real robots.

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   <div style="display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 20px; align-items: flex-start; justify-items: center; max-width: 980px; margin: 0 auto;">
     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <video controls autoplay loop muted playsinline preload="metadata" style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);">
         <source src="https://github.com/RLinf/misc/raw/main/pic/embody.mp4" type="video/mp4">
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       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="maniskill.html" style="text-decoration: underline; color: blue;">
           <b>RL with ManiSkill Benchmark</b>
         </a><br>
         ManiSkill + OpenVLA + PPO/GRPO achieves SOTA performance
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/libero_numbers.jpeg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="libero.html" style="text-decoration: underline; color: blue;">
           <b>RL with LIBERO Benchmark</b>
         </a><br>
         LIBERO + OpenVLA-OFT + GRPO reaches 99% success rate
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/libero_numbers.jpeg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="libero_amd.html" style="text-decoration: underline; color: blue;">
           <b>RL with LIBERO on AMD ROCm</b>
         </a><br>
         ROCm dependency setup and OSMesa rendering for LIBERO RL
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/libero_numbers.jpeg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="libero_ascend.html" style="text-decoration: underline; color: blue;">
           <b>RL with LIBERO on Ascend CANN</b>
         </a><br>
         CANN dependency setup and driver mounting for LIBERO RL
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://raw.githubusercontent.com/RLinf/misc/378920588652fff0a2a0b163b392c94694993345/pic/libero-plus.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="liberoplus_pro.html" style="text-decoration: underline; color: blue;">
           <b>RL with LIBERO-Pro & LIBERO-Plus</b>
         </a><br>
         Support LIBERO-Pro / LIBERO-Plus + OpenVLA-OFT / π₀ / π₀.₅ + PPO/GRPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/behavior.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="behavior.html" style="text-decoration: underline; color: blue;">
           <b>RL with Behavior Benchmark</b>
         </a><br>
         Support Behavior+OpenVLA-OFT+PPO/GRPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/metaworld.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="metaworld.html" style="text-decoration: underline; color: blue;">
           <b>RL with MetaWorld Benchmark</b>
         </a><br>
         Support MetaWorld+π₀/π₀.₅+PPO/GRPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/IsaacLab.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="isaaclab.html" style="text-decoration: underline; color: blue;">
           <b>RL with IsaacLab Benchmark</b>
         </a><br>
         Support IsaacLab+gr00t+PPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/calvin.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);"
            data-target="animated-image.originalImage">
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="calvin.html" style="text-decoration: underline; color: blue;">
           <b>RL with CALVIN Benchmark</b>
         </a><br>
         Support CALVIN+π₀/π₀.₅+PPO/GRPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/robocasa.jpeg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="robocasa.html" style="text-decoration: underline; color: blue;">
           <b>RL with RoboCasa Benchmark</b>
         </a><br>
         Support RoboCasa+π₀+GRPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://raw.githubusercontent.com/RoboTwin-Platform/RoboTwin/main/assets/files/50_tasks.gif"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);"
            data-target="animated-image.originalImage">
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="robotwin.html" style="text-decoration: underline; color: blue;">
           <b>RL with RoboTwin Benchmark</b>
         </a><br>
         Supports RoboTwin + OpenVLA-OFT / π₀ / π₀.₅ + PPO / GRPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://raw.githubusercontent.com/RLinf/serl/refs/heads/RLinf/franka-sim/franka_sim/franka_sim/envs/xmls/robotiq_2f85/2f85.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);"
            data-target="animated-image.originalImage">
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="frankasim.html" style="text-decoration: underline; color: blue;">
           <b>RL with Franka-Sim Benchmark</b>
         </a><br>
         Supports Franka-Sim + MLP/CNN + PPO/SAC training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/embodichain.gif"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="embodichain.html" style="text-decoration: underline; color: blue;">
           <b>RL with EmbodiChain</b>
         </a><br>
         MLP + PPO on EmbodiChain gym tasks
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/hpcaitech/Open-Sora-Demo/raw/main/readme/icon.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);"
            data-target="animated-image.originalImage">
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="opensora.html" style="text-decoration: underline; color: blue;">
           <b>RL with OpenSora World Model</b>
         </a><br>
         Support OpenSora World Model + OpenVLA-OFT + GRPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/wan.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);"
            data-target="animated-image.originalImage">
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="wan.html" style="text-decoration: underline; color: blue;">
           <b>RL with Wan World Model</b>
         </a><br>
         Support Wan World Model + OpenVLA-OFT + GRPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/gsenv.gif"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="gsenv.html" style="text-decoration: underline; color: blue;">
           <b>RL with GSEnv for Real2Sim2Real</b>
         </a><br>
         Support GSEnv + π₀.₅ + PPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/d4rl.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="iql_d4rl.html" style="text-decoration: underline; color: blue;">
           <b>Offline RL with D4RL Benchmark</b>
         </a><br>
         Support IQL offline training for D4RL scenarios
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/pi0_icon.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="pi0.html" style="text-decoration: underline; color: blue;">
           <b>RL on π₀ and π₀.₅ Models</b>
         </a><br>
         Significant improvement in RL training on π₀ and π₀.₅
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/gr00t.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="gr00t.html" style="text-decoration: underline; color: blue;">
           <b>RL on GR00T-N1.5 Model</b>
         </a><br>
         Support GR00T-N1.5 RL fine-tuning.
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/lingbotvla.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="lingbotvla.html" style="text-decoration: underline; color: blue;">
           <b>RL with Lingbot-VLA Model</b>
         </a><br>
         Support Lingbot-VLA + RoboTwin + GRPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://raw.githubusercontent.com/dexmal/dexbotic/main/resources/intro.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="dexbotic.html" style="text-decoration: underline; color: blue;">
           <b>RL on Dexbotic Model</b>
         </a><br>
         Dexbotic (π₀.₅-based) + LIBERO + PPO training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/starvla.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="starvla.html" style="text-decoration: underline; color: blue;">
           <b>RL on StarVLA Models</b>
         </a><br>
         StarVLA + LIBERO + GRPO embodied RL training
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://raw.githubusercontent.com/RoboVerseOrg/RoboVerse/main/docs/source/metasim/images/tea.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);"
            data-target="animated-image.originalImage">
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="roboverse.html" style="text-decoration: underline; color: blue;">
           <b>RL with RoboVerse Benchmark</b>
         </a><br>
         Support RoboVerse + π₀.₅ + PPO training
       </p>
     </div>

  </div>

   <div style="display: flex; justify-content: center; gap: 20px; align-items: flex-start; flex-wrap: wrap;">
     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/3_layer_mlp.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);"
            data-target="animated-image.originalImage">
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="mlp.html" style="text-decoration: underline; color: blue;">
           <b>MLP Policy Training</b>
         </a><br>
         Train an MLP Policy with PPO/SAC/GRPO
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/sac-flow-overview.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="sac_flow.html" style="text-decoration: underline; color: blue;">
           <b>SAC-Flow Policy Training</b>
         </a><br>
         Train a Flow Matching policy with SAC (Sim & Real)
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <!-- TODO(thumbnail): replace placeholder cover image URL for sft_openpi -->
       <img src="https://github.com/RLinf/misc/raw/main/pic/pi0_icon.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="sft_openpi.html" style="text-decoration: underline; color: blue;">
           <b>Supervised Fine-Tuning</b>
         </a><br>
         Run full-parameter and LoRA SFT for OpenPI before RL fine-tuning
       </p>
     </div>

   </div>

   <div style="display: flex; justify-content: center; gap: 20px; align-items: flex-start; flex-wrap: wrap;">
     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/release_0.2/qwen2_5_sft_vlm.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="sft_vlm.html" style="text-decoration: underline; color: blue;">
           <b>VLM Supervised Fine-Tuning</b>
         </a><br>
         Run full-parameter SFT and evaluation for VLM models such as Qwen
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/dsrl.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="dsrl.html" style="text-decoration: underline; color: blue;">
           <b>DSRL for Pi0</b>
         </a><br>
         Steer a frozen Pi0 diffusion policy with lightweight SAC in noise space
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/dagger.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="dagger.html" style="text-decoration: underline; color: blue;">
           <b>DAgger for Embodied Policies</b>
         </a><br>
         Guide online imitation learning with expert relabeling and replay-buffer updates
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/recap.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="recap.html" style="text-decoration: underline; color: blue;">
           <b>RECAP: Offline Advantage-Based Policy Optimization</b>
         </a><br>
         Offline policy optimization via advantage-guided classifier-free guidance
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/co_training.jpeg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="co_training.html" style="text-decoration: underline; color: blue;">
           <b>Sim-Real Co-Training</b>
         </a><br>
         PPO in sim + SFT on real data for better sim-to-real transfer
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/franka_arm_small.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="franka.html" style="text-decoration: underline; color: blue;">
           <b>Real-World RL with Franka</b>
         </a><br>
         RLinf worker seamlessly integrates with the Franka robotic arm
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/franka_reward_model.jpeg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="franka_reward_model.html" style="text-decoration: underline; color: blue;">
           <b>Real-World RL with Franka (Reward Model)</b>
         </a><br>
         Use a reward model to assist robotic manipulation tasks
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/robotiq_zed.jpeg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="franka_zed_robotiq.html" style="text-decoration: underline; color: blue;">
           <b>Real-World Franka with ZED Cameras and Robotiq Gripper</b>
         </a><br>
         ZED camera, Robotiq gripper, and data-collection setup for Franka
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/gello.jpeg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="franka_gello.html" style="text-decoration: underline; color: blue;">
           <b>Real-World Franka with GELLO Teleoperation</b>
         </a><br>
         GELLO teleoperation setup, configuration, and verification for Franka
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/dexhand.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="franka_dexhand.html" style="text-decoration: underline; color: blue;">
           <b>Real-World RL with Franka and Dexterous Hand</b>
         </a><br>
         Franka arm + Ruiyan five-finger dexterous hand real-world RL
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/hg-dagger.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="hg-dagger.html" style="text-decoration: underline; color: blue;">
           <b>HG-DAgger on a Franka arm</b>
         </a><br>
         Human-Gated real-world DAgger pipeline: collection, SFT, and online intervention training
       </p>
     </div>

     <!-- TODO: swap the src below to a GimArm peg-insertion still/video once
          the asset is uploaded to RLinf/misc (tracked by the zanghz21 review
          on PR #1016). -->
     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/gim_arm.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="gim_arm.html" style="text-decoration: underline; color: blue;">
           <b>Real-World RL with GimArm</b>
         </a><br>
         6-DOF GimArm + peg-insertion task over SocketCAN, with Pinocchio-based FK
       </p>
     </div>
    <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
      <img src="https://github.com/RLinf/misc/raw/main/pic/pi0_icon.jpg"
           style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
      <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
        <a href="franka_pi0_sft_deploy.html" style="text-decoration: underline; color: blue;">
          <b>Franka Pi0 SFT and Deployment</b>
        </a><br>
        Data collection + Pi0 SFT + real-world deployment demo
      </p>
    </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <img src="https://github.com/RLinf/misc/raw/main/pic/xsquare_turtle2_arm_small.jpg"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="xsquare_turtle2.html" style="text-decoration: underline; color: blue;">
           <b>Real-World RL with XSquare Turtle2</b>
         </a><br>
         SAC + CNN policy on the XSquare Turtle2 dual-arm robot
       </p>
     </div>

     <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
       <!-- TODO(thumbnail): replace placeholder cover image URL for dosw1 -->
       <img src="https://raw.githubusercontent.com/RLinf/misc/main/pic/dos-w1.png"
            style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
       <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
         <a href="dosw1.html" style="text-decoration: underline; color: blue;">
           <b>Real-World RL with Dexmal DOS-W1</b>
         </a><br>
         Flow-matching + SAC pick task on the Dexmal DOS-W1 dual-arm robot
       </p>
     </div>

    <div style="flex: 1 1 30%; max-width: 300px; text-align: center;">
      <!-- TODO(thumbnail): replace placeholder cover image URL for dosw1 -->
      <img src="https://github.com/RLinf/misc/raw/main/pic/gim-arm.png"
           style="width: 100%; height: 200px; object-fit: cover; border-radius: 8px; box-shadow: 0 2px 6px rgba(0,0,0,0.15);" />
      <p style="margin-top: 8px; font-size: 14px; line-height: 1.4;">
        <a href="gim_arm.html" style="text-decoration: underline; color: blue;">
          <b>GimArm</b>
        </a><br>
        Integrate data collection for the GimArm robotic arm
      </p>
    </div>
   </div>

.. toctree::
   :hidden:
   :maxdepth: 2

   maniskill
   libero
   libero_amd
   libero_ascend
   liberoplus_pro
   behavior
   metaworld
   isaaclab
   calvin
   robocasa
   robotwin
   roboverse
   frankasim
   embodichain
   opensora
   wan
   gsenv
   iql_d4rl
   pi0
   gr00t
   lingbotvla
   dexbotic
   starvla
   mlp
   sac_flow
   sft_openpi
   sft_dreamzero
   sft_vlm
   dsrl
   dagger
   recap
   co_training
   franka
   franka_reward_model
   franka_zed_robotiq
   franka_gello
   franka_dexhand
   franka_pi0_sft_deploy
   hg-dagger
   gim_arm
   xsquare_turtle2
   dosw1
