Perception & geometry

Research

Calibration tools for multi-camera and camera-inertial systems.

Research

Eigen-based C++ Lie-group library for geometric computation.

Research

Simulator for autonomous vehicles built on Unreal Engine and Unity.

Research

Algorithms for point-cloud filtering, registration and geometric analysis.

Research

Reference implementation of 3D Gaussian Splatting for radiance-field rendering.

Research

C++ header-only nearest-neighbor search library using KD-trees.

Research

3D data processing tools for point clouds and geometric perception.

Research

A library for large-scale nonlinear optimization.

Research

Integrated ROS capabilities for planning, predicate inference, gripper control, and perception for use with the KUKA LBR IIWA and Universal Robots.

Research

ROS tools for automated hand-eye calibration.

Research

Imitation learning code for vision-based navigation with language assistance.

Research

GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints

Research

Key.Net: Keypoint Detection by Handcrafted and Learned CNN Filters

Research

Official PyTorch implementation of ODISE: Open-Vocabulary Panoptic Segmentation with Text-to-Image Diffusion Models [CVPR 2023 Highlight]

Research

R2D2: Reliable and Repeatable Detector and Descriptor #

Research

Official implementation of "Emergent Outlier View Rejection in Visual Geometry Grounded Transformers"

Research

📈 RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective

Research

Vision-action pretraining on desktop data for transfer to embodied AI.

Research

Voice-controlled tabletop robotic-arm assistant project.

Research

An open research framework for embodied AI.

Research

Aubo i5 Dual Arm Collaborative Robot - RealSense D435 - 3D Object Pose Estimation - ROS

Research

Cornell House Agent Learning Environment and associated resources.

Research

Constraint-aware imitation-learning research for autonomous racing.

Research

🍀 DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References