Stars
Bubblify is an interactive tool for creating spherical approximations of robot geometries directly from Universal Robot Description Format (URDF) specifications. It provides an intuitive 3D interfa…
Rerun wrapper for Gymnasium, with line follower example
Inverse kinematics and subproblem solutions from "IK-Geo: Unified robot inverse kinematics using subproblem decomposition" implemented in MATLAB, C++, Rust, and Python.
Benchmarks for differentiable programming across languages and domains.
Dear PyGui: A fast and powerful Graphical User Interface Toolkit for Python with minimal dependencies
A Modular Toolkit for Robot Kinematic Optimization
A fast, minimalist directory tree viewer, written in Rust.
Lean 4 programming language and theorem prover
A machine learning compiler for GPUs, CPUs, and ML accelerators
The official repository for the paper "Optimal Flow Matching: Learning Straight Trajectories in Just One Step" (NeurIPS 2024)
[IROS 2025] Generalizable Humanoid Manipulation with 3D Diffusion Policies. Part 1: Train & Deploy of iDP3
A PyTorch library for implementing flow matching algorithms, featuring continuous and discrete flow matching implementations. It includes practical examples for both text and image modalities.
An ultra-fast and highly robust kinematics library for C++ or ROS2 using DH parameters.
Implementation of GTMP in JAX, RA-L 2025 & ICRA 2026.
Dynamic Kd-Tree: Euclidean, SO(2), SO(3), SE(3) and more!
A GPU-accelerated library containing highly optimized building blocks and an execution engine for data processing to accelerate deep learning training and inference applications.
Official repository of "SAMURAI: Adapting Segment Anything Model for Zero-Shot Visual Tracking with Motion-Aware Memory"
C++ library for optimization-based control of redundant robots
A Python-based Trajectory Optimization Framework
Rigid transform using Lie groups and Dual Quaternions, written in CasADi!
Theia: Distilling Diverse Vision Foundation Models for Robot Learning
Python package to create manipulation scenes.