A C++ implementation of Cartesian impedance control for torque-controlled manipulators with ROS bindings.

A trajectory generator for Cartesian linear motions that can apply overlay motions written in C++ and with ROS bindings

This method generates motions for a robotic arm to track end-effector trajectories of any complexity.

ROSA 🤖 is an AI Agent designed to interact with ROS1- and ROS2-based robotics systems using natural language queries. ROSA helps robot developers inspect, diagnose, understand, and operate robots.

DUSt3R: Geometric 3D Vision Made Easy

[CVPR 2024] Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data. Foundation Model for Monocular Depth Estimation

OpenMMLab Semantic Segmentation Toolbox and Benchmark.

Rembg is a tool to remove images background

Python implementation of the Sandpile Model

Landlab codebase, wiki, and tests

OpenMMLab optical flow toolbox and benchmark

COLMAP - Structure-from-Motion and Multi-View Stereo

[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

DayDreamer: World Models for Physical Robot Learning

Parallel Computing and Scientific Machine Learning (SciML): Methods and Applications (MIT 18.337J/6.338J)

High performance simulation for robotic tasks with granular materials

[RSS 2023] RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects

Reinforcement Learning Enables Real-Time Planning and Control of Agile Maneuvers for Soft Robot Arms

SoftGym is a set of benchmark environments for deformable object manipulation.

[ICLR 2023] FluidLab: A Differentiable Environment for Benchmarking Complex Fluid Manipulation

Official PyTorch implementation of VoxFormer [CVPR 2023 Highlight]

Unified framework for robot learning built on NVIDIA Isaac Sim

Admittance control law to generate desired motion of an end-effector (twist), given a desired or external wrench for a velocity-controlled robot.

Several controllers to move Ridgeback mobile-robot and UR5 robotic-arm.

A set of Cartesian controllers for the ROS1 and ROS2-control framework.

USD educational materials

Deep Learning Experiment Management

A library of reinforcement learning components and agents

Isaac Gym Reinforcement Learning Environments