Software

Open source

Mechanical, electronic, simulation and software resources for an open wheeled-legged robot.

Research

The deprecated FogROS v1 cloud-robotics project.

Open source

Research code for scene imagination and efficient robotic exploration.

Research

Robot data visualization and observability tools for development teams.

Open source

Control interface built on top of franka_ros that allows controlling the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly…

Open source

An RL framework for Franka Panda manipulation in MuJoCo.

Open source

ROS 2 integration packages for Franka research robots.

Open source

ROS integration packages for Franka research robots.

Research

Using Computer Vision and Machine Learning to Move the Franka Panda Robot Arm with Teleoperation

Research

Sensor fusion architecture for robot state estimation, localization and mapping.

Open source

ACDC4Robot: Automated Conversion of Description Conventions for Robots from Design to Learning

Open source

ROS 2 localization for outdoor robots: IMU, wheel encoders and GPS fused in a 23-state UKF at 100 Hz. When the estimate goes wrong it reports which sensor and why, instead of drifting silently.…

Research

This is the official implementation of the voxel-based humanoid locomotion in "Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains"

Open source

Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting

Research

Source repository for the classic Gazebo robotics simulator.

Open source

A simple tool to generate gazebo terrain using satellite images and DEM data.

Open source

Motion Planning around Obstacles with Convex Optimization by Marcucci et al, 2023

Open source

Research code for learning general motion flows as robot affordances.

Open source

A lightweight robotics RL framework built on Genesis with IsaacLab-aligned APIs, enabling fast task development and easy migration from existing IsaacLab environments.

Open source

Generating Robotic Simulation Tasks via Large Language Models

Research

Geometry-Aware Learning of Maps for Camera Localization (CVPR2018)

Open source

Modern C++20 GNSS toolkit — RTK/PPP/CLAS/IMU fusion.

Open source

A convex MPC locomotion controller implemented in MuJoCo with Unitree Go2 quadruped

Open source

"Good Robot! Now Watch This!": Repurposing Reinforcement Learning for Task-to-Task Transfer; and “Good Robot!”: Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer