Computations and statistics on manifolds with geometric structures.

C++ implementation of Lie Groups using Eigen.

Python Server For KUKA Robot Sensor Interface (RSI)

OpenVLA: An open-source vision-language-action model for robotic manipulation.

Motion Planning around Obstacles with Convex Optimization by Marcucci et al, 2023

[SIGGRAPH2022] Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search

The V-HACD library decomposes a 3D surface into a set of "near" convex parts.

Python parser for URDFs

A generative world for general-purpose robotics & embodied AI learning.

Motion Planning Networks

Time-Optimal Path Following with Bounded Acceleration and Velocity

Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

[CVPR 2023, BSP] 3D Registration with Maximal Cliques

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Easy-to-use glTF 2.0-compliant OpenGL renderer for visualization of 3D scenes.

[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

Open Source Visual Servoing Platform

Multi-Joint dynamics with Contact. A general purpose physics simulator.

Octo is a transformer-based robot policy trained on a diverse mix of 800k robot trajectories.

LightGlue: Local Feature Matching at Light Speed (ICCV 2023)

🤗 LeRobot: Making AI for Robotics more accessible with end-to-end learning

Segment-Anything + 3D. Let's lift anything to 3D.

Manipulation and analysis of geometric objects

Implementation of "PaLM-E: An Embodied Multimodal Language Model"

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF,…

"MimicPlay: Long-Horizon Imitation Learning by Watching Human Play" code repository