An assortment of standalone C++ utilities

A playbook for systematically maximizing the performance of deep learning models.

Replacement for rqt_console

A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems

Running C++ in anywhere like a script.

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.

Imitation learning algorithms

C++ implementation of RelaxedIK for ROS 2 and MoveIt

Orocos Kinematics and Dynamics C++ library

Saturation in the Null Space (SNS) Inverse Kinematic Library

Python inverse kinematics based on MuJoCo

Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

Quadruped control architecture

Real-time behaviour synthesis with MuJoCo, using Predictive Control

Model predictive control to balance Upkie wheeled bipeds

Model predictive controller accompanying the ProxQP paper

Fast, hierarchical, sparse Voxel Grid

nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees

robotic motion planning library

A fast algorithm for finding an optimal path in a collection of safe boxes

Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit

SIMD-Accelerated Sampling-based Motion Planning

Minimal header-only C++ RRT implementation.

Simplifying optimal control with metaprogramming

Deep Reinforcement Learning for Robotic Grasping from Octrees

A unified framework for robot learning