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@UM-ARM-Lab The Autonomous Robotic Manipulation Lab

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    163 repositories

    • pytorch_kinematics

      Public
      Robot kinematics implemented in pytorch
      roboticskinematicspytorchjacobiandifferentiable-programming
      Python
      •
      MIT License
      •67•743•12•3•Updated Feb 28, 2026Feb 28, 2026

    • rl_games_cotrain

      Public
      RL implementations with co-training
      Jupyter Notebook
      •
      MIT License
      •200•0•0•0•Updated Feb 26, 2026Feb 26, 2026

    • IsaacLabTactile

      Public
      Unified framework for robot learning built on NVIDIA Isaac Sim
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •3.2k•5•0•0•Updated Feb 26, 2026Feb 26, 2026

    • tactile-tasks

      Public
      Python
      •0•2•0•0•Updated Feb 19, 2026Feb 19, 2026

    • claps

      Public
      HTML
      •0•0•0•0•Updated Feb 13, 2026Feb 13, 2026

    • Blender_Robot_Animation_Tutorial

      Public
      This repository provides a tutorial on using the Phobos Blender add-on for robotic modeling. It covers the end-to-end workflow of configuring URDFs, managing ge…
      0•0•0•0•Updated Feb 6, 2026Feb 6, 2026

    • mbot_experiments

      Public
      Python
      •0•1•1•0•Updated Dec 12, 2025Dec 12, 2025

    • claps_code

      Public
      Python
      •0•1•0•0•Updated Dec 12, 2025Dec 12, 2025

    • ccai

      Public
      Constrained Control-as-inference
      Jupyter Notebook
      •2•10•0•0•Updated Dec 5, 2025Dec 5, 2025

    • mbot_lcm_base

      Public
      Base files for all MBots using LCM.
      C
      •
      BSD 3-Clause "New" or "Revised" License
      •1•0•0•0•Updated Nov 25, 2025Nov 25, 2025

    • arm_robots

      Public
      Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.
      Python
      •1•8•7•2•Updated Oct 23, 2025Oct 23, 2025

    • robot_tool_use_diffusion_policy

      Public
      A fork of the original diffusion policy paper
      Python
      •
      MIT License
      •702•1•0•0•Updated Oct 23, 2025Oct 23, 2025

    • pytorch_volumetric

      Public
      Volumetric structures such as voxels and SDFs implemented in pytorch
      robotkinematicsvoxelpytorchsigned-distance-fieldsdfsigned-distance-functionsvoxelsvoxel-gridchamfer-distance
      Python
      •
      MIT License
      •15•184•4•0•Updated Oct 17, 2025Oct 17, 2025

    • lucca

      Public
      roboticsmotion-planninguncertaintyuncertainty-quantificationsafety-critical
      HTML
      •0•1•0•0•Updated Sep 15, 2025Sep 15, 2025

    • kuka_iiwa_interface

      Public
      Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
      C++
      •
      BSD 2-Clause "Simplified" License
      •4•8•26•0•Updated Sep 11, 2025Sep 11, 2025

    • arm_zivid

      Public
      ROS 2 wrapper for the zivid
      Python
      •0•1•0•0•Updated Sep 11, 2025Sep 11, 2025

    • arc_utilities

      Public
      C++ and Python utilities. ARC -> ARM
      C++
      •
      BSD 2-Clause "Simplified" License
      •8•13•12•1•Updated Sep 3, 2025Sep 3, 2025

    • RoboStack-humble-ARM

      Public
      Recipes for ROS 2 Humble Hawksbill
      Shell
      •70•0•0•0•Updated Sep 1, 2025Sep 1, 2025

    • vicon2lcm

      Public
      A small bridge to publish Vicon DataStream SDK data as LCM messages. Includes simple velocity estimation.
      C++
      •0•1•0•0•Updated Aug 25, 2025Aug 25, 2025

    • lightweight_vicon_bridge

      Public
      Bridge between Vicon DataStream SDK and ROS. Designed specifically for reduced latency.
      C++
      •5•4•2•0•Updated Aug 22, 2025Aug 22, 2025

    • cad-models

      Public
      Various CAD files that others may find useful
      0•1•0•0•Updated Aug 21, 2025Aug 21, 2025

    • tensor-ipc

      Public
      Tensor IPC framework for passing tensors between robot executors, sensors, and ML policy
      Python
      •
      MIT License
      •2•0•0•0•Updated Jul 25, 2025Jul 25, 2025

    • base_experiments

      Public
      Shared experiments library code for many python based experiments
      Python
      •
      MIT License
      •0•1•0•0•Updated Apr 20, 2025Apr 20, 2025

    • MultiFingerTrajOpt

      Public
      Python
      •
      Apache License 2.0
      •1•9•0•0•Updated Mar 18, 2025Mar 18, 2025

    • MFR_benchmark

      Public
      Multi-finger Reorientation benchmark featuring sensitive dexterous manipulation tasks
      Python
      •0•8•0•0•Updated Dec 12, 2024Dec 12, 2024

    • pytorch_mppi

      Public
      Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
      pytorchcontrolsmodel-predictive-controlmppiapproximate-dynamics
      Python
      •
      MIT License
      •71•678•3•0•Updated Nov 14, 2024Nov 14, 2024

    • stucco_experiments

      Public
      Experiments for STUCCO
      Python
      •
      MIT License
      •0•0•0•0•Updated Aug 28, 2024Aug 28, 2024

    • conq_python

      Public
      Python library and example scripts for Conq, our Boston Dynamics Spot
      Jupyter Notebook
      •
      MIT License
      •2•3•13•1•Updated Aug 26, 2024Aug 26, 2024

    • arm_utilities

      Public
      new arm utilities repo
      C++
      •0•1•0•0•Updated Aug 22, 2024Aug 22, 2024

    • chsel

      Public
      Constrained pose Hypothesis Set Elimination official code for pose estimation
      Python
      •
      MIT License
      •2•14•0•0•Updated Aug 14, 2024Aug 14, 2024