lio_ros_wrapper

M3DGR: A Multi-sensor, Multi-scenario and Massive-baseline SLAM Dataset for Ground Robots(IROS2025)

VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments

AgriLiRa4D: A Multi-Sensor UAV Dataset for Robust SLAM in Challenging Agricultural Fields

A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation

Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

Code repository for the method MonoSpheres for large-scale monocular UAV exploration

Doppler-Aware Direct Radar Odometry

RIV-SLAM: Radar-Inertial-Velocity optimization based graph SLAM

3D Radar Doppler Odometry

This repository contains links and instructions for a radar odometry dataset

Fast LiDAR SLAM

A Model Predictive Path Integral control algorithm for MeshNav.

GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry

A highly robust and accurate LiDAR-only, LiDAR-inertial odometry

Tightly-Coupled Lidar Inertial Odometry

Multi-Mapcher: Loop closure detection-free heterogeneous LiDAR multi-session SLAM leveraging outlier-robust registration for autonomous vehicles (T-IV)

"AI-Trader: Can AI Beat the Market?" Live Trading Bench: https://ai4trade.ai Tech Report Link: https://arxiv.org/abs/2512.10971

Official page for SGA-DPCC (Scene Graph-Aware Deep Point Cloud Compression), accepted @ RA-L'25, to be presented @ ICRA'26

Learned Perceptive Forward Dynamics Model

A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swar.

OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS

SimpleVLA-RL: Scaling VLA Training via Reinforcement Learning

A GPU-Accelerated Differentiable Simulation Framework for Efficient Quadrotor Policy Learning

A Robust and Efficient LiDAR-Inertial Odometry System with a Compact Mapping Strategy.

Release repo for our SLAM Handbook