Robotics

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021

[TRO 2025] NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning.

CarlaAir: Fly Drones Inside a CARLA World!! A Unified Infrastructure for Air-Ground Embodied Intelligence

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

A curated list of SLAM resources

GMS: Grid-based Motion Statistics for Fast, Ultra-robust Feature Correspondence (CVPR 17 & IJCV 20)

Mosaico - The data platform for Physical AI

OpenAI Gym environments for an open-source quadruped robot (SpotMicro)

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

Poppy Humanoid is an open-source and 3D printed humanoid robot. Optimized for research and education purposes, its modularity allows for a wide range of applications and experimentations.

这是一本关于SLAM的书稿，希望能清楚的介绍SLAM系统中的使用的几何方法和深度学习方法。书稿最后应该会达到200页左右，书稿每章对应的代码也会被整理出来。

loam code noted in Chinese（loam中文注解版）

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

[ICLR 2025 Oral] The official implementation of "Diffusion-Based Planning for Autonomous Driving with Flexible Guidance"

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

A Modular Optimization framework for Localization and mApping (MOLA)

主流VIO论文推导及代码解析

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)

Optimal Reciprocal Collision Avoidance (C++)

References on Optimal Control, Reinforcement Learning and Motion Planning

UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms

An Open-Source World Model for Action-Conditioned Embodied Intelligence.

Interactive Map Correction for 3D Graph SLAM

Real-time large scale dense visual SLAM system

[CoRL 21'] TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo

DynaSLAM is a SLAM system robust in dynamic environments for monocular, stereo and RGB-D setups

Cryptocurrency trading bot with a graphical user interface with support for simulations, backtests, optimizations, and running live bots.

The FluxGarage RoboEyes library draws smoothly animated robot eyes on OLED displays, using the Adafruit GFX library.

robotic motion planning library

Summary of key papers and blogs about diffusion models to learn about the topic. Detailed list of all published diffusion robotics papers.

All files for 6 axis robot arm with cycloidal gearboxes .

Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation

An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.

CT-ICP: Continuous-Time LiDAR Odometry

Hybrid A*路径规划器的代码注释

X Inertial-aided Visual Odometry

A hexapod robot simulator built from first principles

CubeSLAM: Monocular 3D Object Detection and SLAM

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations

LIO_SAM for 6-axis IMU and GNSS.

🔥ROS(c++)机器人操作系统 学习（写于2020年夏）

Optimal Reciprocal Collision Avoidance (C#)

Access 200+ robot descriptions from the main Python robotics frameworks

自动驾驶笔记，以解析各模块知识点、整合行业优秀解决方案进行阐述，以帮助自己及有需要的读者；包含深度学习、deeplearning、无人驾驶、BEV、Transformer、ADAS、CVPR、特斯拉AI DAY、大模型、chatgpt等内容.

n-dimensional RRT, RRT* (RRT-Star)

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

知识图谱问答机器人，聊天机器人，基于知识图谱、语义理解等的对话机器人。