Continual Distillation Learning: An Empirical Study of Knowledge Distillation in Prompt-based Continual Learning

Trajectory optimization for grasping

iTeach: Interactive Teaching for Robot Perception using Mixed Reality 🤖🌐

Autonomous Exploration, Construction and Update of Semantic Map in real-time

A Python package that provides evaluation and visualization tools for the HOCap dataset

Code repo for RobotFingerPrint paper

Open ROS Components for Robots from Fetch Robotics/ IRVL Fetch Robot with ATI F/T sensor and deformable UMI fingers

ROS packages for multi robot exploration, with custom set of parameters for efficient exploration in large environments

Deep learned, NVIDIA-accelerated 3D object pose estimation

NIDS-Net: A unified framework for novel instance detection and segmentation

Code for CVPR2024 'Segment Every Out-of-Distribution Object '

Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

[CVPR 2024 Highlight] FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

robotic motion planning library

MultiGripperGrasp Toolkit 2.0. Simulation Tools for the MultiGripperGrasp Dataset

CUDA Accelerated Robot Library

Standalone URDF parser for Python.

Implementation of Cross Transformer for spatially-aware few-shot transfer, in Pytorch

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

[DexNet] Python module for GQ-CNN training and deployment with ROS integration.

Code release for Proto-CLIP: Vision-Language Prototypical Network for Few-Shot Learning

Code release for SceneReplica paper.

[CVPR 2023] BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

Official code repository for the paper: “GenSDF: Two-Stage Learning of Generalizable Signed Distance Functions”

[ECCV 2022] XMem: Long-Term Video Object Segmentation with an Atkinson-Shiffrin Memory Model

Unseen Object Instance Segmentation with MSMFormer. (ICRA 2024 and RSS 2023)

The research tools developed for HoloLens2

Hand Detection + Pose Estimation | https://arxiv.org/abs/2207.02959 | https://openreview.net/forum?id=OzP68WT3UA

Dataset generation for NeuralGrasps https://arxiv.org/abs/2207.02959

Model and associated utility code for NeuralGrasps https://arxiv.org/abs/2207.02959