Overview

This README provides links to third-party repositories with code for the Stretch mobile manipulator from Hello Robot. Hello Robot maintains this page, but typically does not test the code. These links are intended to help members of the Stretch community connect with one another and build on one another's work.

If you would like us to add, remove, or edit a link to your repository, please email us at [email protected].

Community Repositories

Featured

Group	Description	Repo
Meta AI & CMU	A collaboration between FAIR and CMU to advance semantic navigation on Stretch. In this work Stretch starts in a completely unseen home environment and is able to find an instance of an object category	Navigating to Objects in the Real World
Human-Centered Robotics Lab @ University of Washington	We recommend this web interface for Stretch. Prof. Maya Cakmak has led its development. Her team has made major improvements to Hello Robot's web interface and their code is under active development. Publication: "An Exploration of Accessible Remote Tele-operation for Assistive Mobile Manipulators in the Home"	stretch-web-app
Meta AI	Meta AI is creating an ambitious new platform for robotics with leadership from Soumith Chintala the creator of PyTorch "Fairo is a unified robotics platform developed by researchers at Meta AI." A blog post included a video with Stretch.	Fairo
Emerging Tech @ Avanade	Avanade has made their explorations available as open source, including work with NextMind's brain computer interface via Unity, Microsoft Azure Internet of Things, and DroneDeploy Ground Robotics (formerly Rocos). Fergus Kidd and Chris Lloyd-Jones have led this effort.	emtech-stretch-labs

Peer-Reviewed Publications

Group	Description	Repo
Grady, Collins, Brahmbhatt, Twigg, Tang, Hays, and Kemp @ Georgia Tech	Publication: Visual Pressure Estimation and Control for Soft Robotic Grippers, Conference on Intelligent Robots and Systems, (IROS), 2022	Code Coming Soon
Bahl, Gupta & Pathak @ Carnegie Mellon University	"WHIRL: In-the-Wild Human Imitating Robot Learning" "one-shot generalization and success in real-world settings, including 20 different manipulation tasks in the wild" Publication: "Human-to-Robot Imitation in the Wild"	Code Coming Soon
Prof. Lerrel Pinto's group @ New York University	This repository has code for Visual Imitation through Nearest Neighbors (VINN). Publication: "The Surprising Effectiveness of Representation Learning for Visual Imitation"	VINN
Robotic Caregiving and Human Interaction Lab @ Carnegie Mellon University	Publication: "Bodies Uncovered: Learning to Manipulate Real Blankets Around People via Physics Simulations"	bodies-uncovered
Boivin, M., Lin, KY., Wehner, M. et al @ University of California, Santa Cruz	Publication: Proprioceptive Touch of a Soft Actuator Containing an Embedded Intrinsically Soft Sensor using Kinesthetic Feedback. Intell Robot Syst 107, 28 (2023).	Not available.
Bahl, Mendonca, & Pathak @ Carnegie Mellon University	Publication: VRB: Affordances from Human Videos as a Versatile Representation for Robotics	VRB

Class Related

Group	Description	Repo
Class Project @ Carnegie Mellon University	"WeHelp, a shared autonomy system aimed for wheelchair users."	WeHelp
Class Project @ Carnegie Mellon University	"TouRI - A touring Robot"	TouRI-Robot
Class Project @ Georgia Tech	"The Bottle Butler by Team Red" - demonstration of autonomous water delivery for older adults	Move_to_table_door
Class Project @ Georgia Tech	"Stretch with Stretch by Team Blue" - collaborative exercising with Stretch	stretch-caregiving-class
Code for Class @ Carnegie Mellon University	"Test scripts of Hello Robot's Stretch RE1 for Midterm and Final project during coursework of 16887 at Robotics Institute, CMU" shared by Jashkumar Diyora	Robotic-Caregivers-16887
Prof. Charlie Kemp @ Georgia Tech	Various repositories related to the Robotic Caregivers class at Georgia Tech	prof-charlie-kemp

Simulators

Group	Description	Repo
Human-Centered Robotics Lab @ University of Washington	Gazebo simulation of Stretch with improvements over Hello Robot's Gazebo code. This repository from UW includes open assets for an indoor environment and objects	hcrl_gazebo
Meta AI	An effort to create a "Habitat2 compatible version of the Hello Robot Stretch urdf" that is being led by Chris Paxton	hab_stretch
Prof. Zackory Erickson @ Carnegie Mellon University	Assistive Gym is a simulation system compatible with OpenAI Gym for assistive-robotics tasks. It includes a simulation of Stretch.	assistive-gym

Other

Group	Description	Repo
Center for Music Technology @ Georgia Institute of Technology	"Scripts for Hello Robot Stretch" by Rishikesh Daoo	Stretch_robot
Human-Robot Interaction Lab @ UMass Lowell	"Hello Robot Stretch Semi Autonomous Teleop Interface"	stretch_gui
Human-Robot Interaction Lab @ UMass Lowell	"Hello Robot Stretch pseudo-autonomous teleop interface"	stretch_uml
Intuitive Computing Laboratory @ Johns Hopkins University	"Tool retrieval robot for hospital central sterile processing department."	icl_stretch_ros
Intuitive Computing Laboratory @ Johns Hopkins University	"Web interface for HelloRobot Stretch."	stretch-web-app
John Wen Research Group @ Rensselaer Polytechnic Institute	Burak Aksoy's repository: "A sandbox repo for 'fun' with Hello Stretch Robots"	HelloStretchSandbox
Matt Lamsey	"for testing ROS with a Hello Robot Stretch RE1"	stretch_testing