Motion planning & control

Open source

Enhancing LLM/VLM capability for robot task and motion planning with extra algorithm based tools.

Open source

bcr arm: A 7-DOF robotic arm simulation with ROS2 Control, MoveIt motion planning, and support for ROS2 Humble, ROS2 Jazzy, GZ Fortress, GZ Harmonic, and NVIDIA Isaac Sim

Open source

Optimal-control framework linking CasADi, Ipopt, ACADOS, and biorbd.

Open source

Suite of libraries for achieving bipedal locomotion on humanoid robots

Open source

Robot messages, descriptions and controllers for Boxer.

Open source

Official implementation of Chain-of-Action: Trajectory Autoregressive Modeling for Robotic Manipulation. Accepted in NeurIPS 2025.

Research

State-of-the-art method for model-based dexterous manipulation

Open source

C++ toolbox for robotics, optimal control and model predictive control.

Open source

Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!

Open source

CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies

Open source

Robot learning research using separate forward and inverse dynamics pretraining.

Open source

Path planning and control algorithms for a differential drive robot using ROS2

Research

This project consists of research on a 6 degree of freedom robot. A 3D model of the robot has been made on Unity to demonstrate Forward and Inverse Kinematics. Important concepts in robotics like…

Research

Robotic system modeling, dynamics and optimization tools.

Research

Domain-randomization experiments for closed-loop soft-robot control.

Open source

Examples of efficient trajectory optimization for robot motion planning

Research

EvoBot provides an agent and reusable skill library for LIBERO manipulation tasks.

Research

Genetic-algorithm joint-control experiments for a quadruped robot.

Open source

Optimization framework for robot motion planning and control.

Research

MuJoCo framework for studying robot behavior under sensor, actuator and hardware failures.

Research

A C++ implementation of Fastron based on the paper "Learning-Based Proxy Collision Detection for Robot Motion Planning Applications".

Open source

Coverage path planning library for autonomous agricultural vehicles.

Open source

Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

Open source

A system identification framework for robots