The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy

public repo served as a support library for pypose nightly version development

RA-L 2025

iA*: Imperative Learning-based A* Search for Path Planning (RA-L 2025)

Torchhd is a Python library for Hyperdimensional Computing and Vector Symbolic Architectures

A PyTorch Library for Multi-Task Learning

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

Visual Neuro-Symbolic Friction Learning for Off-road Navigation

[NeurIPS 2025] SpatialLM: Training Large Language Models for Structured Indoor Modeling

Convert a PDDL domain into an OpenAI Gym environment.

Release repo for our SLAM Handbook

Sampling-based model predictive control on GPU with JAX/MJX

[ECCV 2024] iMatching: self-supervised image feature matching

Boilerplate for robot autonomy. Designed for multi-robot, real world deployment with TAK.

Tensors and Dynamic neural networks in Python with strong GPU acceleration

Real-time behaviour synthesis with MuJoCo, using Predictive Control

iMTSP: Solving Min-Max Multiple Traveling Salesman Problem with Imperative Learning

Python sample codes and textbook for robotics algorithms.

[CVPR 2024] Neural Markov Random Field for Stereo Matching

PhysORD: A Neuro-Symbolic Approach for Physics-infused Motion Prediction in Off-road Driving (IROS 2024)

Original reference implementation of "3D Gaussian Splatting for Real-Time Radiance Field Rendering"

An open source framework for research in Embodied-AI from AI2.

Optimizing control variates for black-box gradient estimation

An implementation of the SE-Sync algorithm for synchronization over the special Euclidean group.

MATLAB toolbox for optimization modeling

An educational resource to help anyone learn deep reinforcement learning.

The Z3 Theorem Prover

Paper list in the survey paper: Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis