iSeries

This repo collects the source code and projects related to Imperative Learning.

Imperative learning (IL) was first formally defined in this long article:

• Chen Wang, Kaiyi Ji, Junyi Geng, Zhongqiang Ren, Taimeng Fu, Fan Yang, Yifan Guo, Haonan He, Xiangyu Chen, Zitong Zhan, Qiwei Du, Shaoshu Su, Bowen Li, Yuheng Qiu, Yi Du, Qihang Li, Yifan Yang, Xiao Lin, Zhipeng Zhao. "Imperative Learning: A Self-supervised Neural-Symbolic Learning Framework for Robot Autonomy," International Journal of Robotics Research (IJRR), 2025.

Its source code is (or will be) available in the following repositories.

• iSLAM: Imperative SLAM.

  Taimeng Fu, Shaoshu Su, Yiren Lu, Chen Wang.

  IEEE Robotics and Automation Letters (RA-L), 2024.

  Code link: https://github.com/sair-lab/iSLAM

• iPlanner: Imperative Path Planning.

  Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter.

  Robotics: Science and Systems (RSS), 2023.

  Code link: https://github.com/sair-lab/iPlanner

• iMTSP: Solving Min-Max Multiple Traveling Salesman Problem with Imperative Learning.

  Yifan Guo, Zhongqiang Ren, Chen Wang.

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

  Code link: https://github.com/sair-lab/iMTSP

• iMatching: Imperative Correspondence Learning.

  Zitong Zhan, Dasong Gao, Yun-Jou Lin, Youjie Xia, Chen Wang.

  European Conference on Computer Vision (ECCV), 2024.

  Code link: https://github.com/sair-lab/iMatching

• iA*: Imperative Learning-based A* Search for Pathfinding.

  Xiangyu Chen, Fan Yang, Chen Wang.

  IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 12, pp. 12987–12994, 2025.

  Code link: https://github.com/sair-lab/iAstar

• iWalker: Imperative Visual Planning for Walking Humanoid Robot.

  Xiao Lin, Yuhao Huang, Taimeng Fu, Xiaobin Xiong, Chen Wang.

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2865–2872, 2025.

• iKap: Kinematics-aware Planning with Imperative Learning.

  Qihang Li, Zhuoqun Chen, Haoze Zheng, Haonan He, Shaoshu Su, Junyi Geng, Chen Wang.

  IEEE International Conference on Robotics and Automation (ICRA), pp. 10164–10170, 2025.