ros2_medkit - diagnostics gateway for ROS 2 robots. Faults, live data, operations, scripts, locking, triggers, and OTA updates via REST API. No SSH, no custom tooling.

An open-source audio wake word (or phrase) detection framework with a focus on performance and simplicity.

A C++ library for ground segmentation of a pointcloud

Animation engine for explanatory math videos

Monitor ROS 2 topic status and provide a nice dashboard in Grafana

Official repository for "Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress," presented at CoRL 2024.

ReStructuredText and Sphinx bridge to Doxygen

Wrappers and other utilities for ROS2

Modern robot motion planning library based on Pinocchio.

Zenoh ROS-like Middleware

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations

State-of-the-Art Text Embeddings

ROS extensions and implementations for py_trees

ROS 2 package that integrates Telegraf with ROS 2 to monitor system resources and publish them as ROS resource or diagnostics messages.

Simulated experiments for "Real-Time Execution of Action Chunking Flow Policies".

A gym environment for ALOHA

A better replacement for the ROS2 launch system: intuitive, simple, memorable.

ROS 2 Navigation Framework and System

Enhance your occupancy grid maps and make them super awesome.

Support robosense LiDAR including M1, E1R, and Airy

A concise but complete implementation of CLIP with various experimental improvements from recent papers

Qt based tool for editing maps generated by ROS gmapping package.

My contribution to ARS Bender 2025

Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2

A Modern ROS TypeScript Library

Standalone URDF parser for Python.