Compile xacro files to plain URDF or MJCF from Python or the command line (no ROS required).

High-performance C++ tensor library with NumPy/PyTorch-like API

A simple way to do 2D and 3D phase portraits.

A Python-based lightweight robot simulator designed for navigation, control, and learning

LP presolver

Configuration Space Distance Fields for Manipulation Planning

Elevation Mapping on GPU.

Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

Plotly for C++. A C++ interface to the Plotly.js figure spec, for creating interactive data visualizations.

SoRoSim: A MATLAB Toolbox for Hybrid Soft-Rigid Robots

SAPIEN Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark, led by Hillbot, Inc.

High-performance C++ library for multiphysics and multibody dynamics simulations

A fast and simple implementation of learning algorithms for robotics.

High performance motor control

Slides of my group seminar in October 2025

Physics-informed neural network for solving fluid dynamics problems

The Visibility-Aware RRT* implementation for safety-critical navigation with perception-limited robots.

An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.

An Open Source Task Solving library with Constraints

Latex code for making neural networks diagrams

Dynamic model of the Franka Emika Panda robot

Differentiable Model Predictive Control on the GPU

Implementation of the transformer from the paper: "Real-World Humanoid Locomotion with Reinforcement Learning"