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Builds 2D signed distance fields from images, 3D signed distance fields from pointclouds, 3D signed distance fields from Octomap, provides a lightweight signed distance field library, message types…

C++ 242 39

pytorch_mppi

Public

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

Python 621 68

pytorch_kinematics

Public

Robot kinematics implemented in pytorch

Python 688 58

arm_pytorch_utilities

Public

Utilities for working with pytorch

Python 8 1

cdcpd

Public

Library for Constrained Deformable Coherent Point Drift

C++ 31 14

pytorch_volumetric

Public

Volumetric structures such as voxels and SDFs implemented in pytorch

Python 177 15

Showing 10 of 158 repositories

IsaacLabTactile Public Forked fromisaac-sim/IsaacLab
Unified framework for robot learning built on NVIDIA Isaac Sim
UM-ARM-Lab/IsaacLabTactile’s past year of commit activity
Python 1BSD-3-Clause 2,598 0 0 UpdatedNov 4, 2025
arm_robots Public
Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.
UM-ARM-Lab/arm_robots’s past year of commit activity
Python 8 1 7 2 UpdatedOct 23, 2025
robot_tool_use_diffusion_policy Public Forked fromreal-stanford/diffusion_policy
A fork of the original diffusion policy paper
UM-ARM-Lab/robot_tool_use_diffusion_policy’s past year of commit activity
Python 1MIT 607 0 0 UpdatedOct 23, 2025
pytorch_volumetric Public
Volumetric structures such as voxels and SDFs implemented in pytorch
UM-ARM-Lab/pytorch_volumetric’s past year of commit activity
Python 177MIT 15 4 0 UpdatedOct 17, 2025
pytorch_kinematics Public
Robot kinematics implemented in pytorch
UM-ARM-Lab/pytorch_kinematics’s past year of commit activity
Python 688MIT 58 16 (2 issues need help) 1 UpdatedOct 16, 2025
ccai Public
Constrained Control-as-inference
UM-ARM-Lab/ccai’s past year of commit activity
Jupyter Notebook 90 0 0 UpdatedSep 29, 2025
lucca Public
UM-ARM-Lab/lucca’s past year of commit activity
HTML 10 0 0 UpdatedSep 15, 2025
mbot_experiments Public
UM-ARM-Lab/mbot_experiments’s past year of commit activity
Python 10 1 0 UpdatedSep 14, 2025
kuka_iiwa_interface Public
Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
UM-ARM-Lab/kuka_iiwa_interface’s past year of commit activity
C++ 8BSD-2-Clause 4 26 0 UpdatedSep 11, 2025
arm_zivid Public
ROS 2 wrapper for the zivid
UM-ARM-Lab/arm_zivid’s past year of commit activity
Python 10 0 0 UpdatedSep 11, 2025