Perception & geometry

Open source

Model-free 6D pose tracking for previously unseen objects.

Research

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

Open source

DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation, CoRL 2022

Research

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

Open source

Computer-vision library for image processing, calibration, and perception.

Research

Simulator for autonomous vehicles built on Unreal Engine and Unity.

Research

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

Open source

YOLO toolkit for detection, segmentation, pose estimation, and tracking.

Open source

Source code for the Webots robot simulator.

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.

Open source

3D object detection in point clouds using deep Hough voting.

Open source

A toolbox for learning visual pushing and grasping with RL.

Open source

API for a multi-agent household simulation environment.

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.

Open source

ROS 2 node for AprilTag detection

Open source

A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a…

Open source

Feed-forward metric 3D reconstruction implementation.

Open source

AI2-THOR source code for interactive visual-AI environments.

Open source

Point Cloud Matters: Rethinking the Impact of Different Observation Spaces on Robot Learning

Open source

Detects 6-DoF grasp poses in point clouds.