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@UM-ARM-Lab

The Autonomous Robotic Manipulation Lab

The Autonomous Robotic Manipulation Lab studies motion planning, manipulation, and human-robot collaboration.

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  1. sdf_tools sdf_tools Public

    Builds 2D signed distance fields from images, 3D signed distance fields from pointclouds, 3D signed distance fields from Octomap, provides a lightweight signed distance field library, message types…

    C++ 241 39

  2. pytorch_mppi pytorch_mppi Public

    Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

    Python 594 67

  3. pytorch_kinematics pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    Python 651 53

  4. arm_pytorch_utilities arm_pytorch_utilities Public

    Utilities for working with pytorch

    Python 8 1

  5. cdcpd cdcpd Public

    Library for Constrained Deformable Coherent Point Drift

    C++ 31 14

  6. pytorch_volumetric pytorch_volumetric Public

    Volumetric structures such as voxels and SDFs implemented in pytorch

    Python 172 15

Repositories

Showing 10 of 156 repositories
  • robot_tool_use_diffusion_policy Public Forked from real-stanford/diffusion_policy

    A fork of the original diffusion policy paper

    UM-ARM-Lab/robot_tool_use_diffusion_policy’s past year of commit activity
    Python 0 MIT 561 0 0 Updated Sep 4, 2025
  • arc_utilities Public

    C++ and Python utilities. ARC -> ARM

    UM-ARM-Lab/arc_utilities’s past year of commit activity
    C++ 13 BSD-2-Clause 8 12 1 Updated Sep 3, 2025
  • RoboStack-humble-ARM Public Forked from RoboStack/ros-humble

    Recipes for ROS 2 Humble Hawksbill

    UM-ARM-Lab/RoboStack-humble-ARM’s past year of commit activity
    Shell 0 59 0 0 Updated Sep 1, 2025
  • kuka_iiwa_interface Public

    Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK

    UM-ARM-Lab/kuka_iiwa_interface’s past year of commit activity
    C++ 8 BSD-2-Clause 4 26 0 Updated Sep 1, 2025
  • pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    UM-ARM-Lab/pytorch_kinematics’s past year of commit activity
    Python 651 MIT 53 16 (2 issues need help) 1 Updated Aug 25, 2025
  • vicon2lcm Public

    A small bridge to publish Vicon DataStream SDK data as LCM messages. Includes simple velocity estimation.

    UM-ARM-Lab/vicon2lcm’s past year of commit activity
    C++ 0 0 0 0 Updated Aug 25, 2025
  • ccai Public

    Constrained Control-as-inference

    UM-ARM-Lab/ccai’s past year of commit activity
    Jupyter Notebook 7 0 0 0 Updated Aug 25, 2025
  • pytorch_volumetric Public

    Volumetric structures such as voxels and SDFs implemented in pytorch

    UM-ARM-Lab/pytorch_volumetric’s past year of commit activity
    Python 172 MIT 15 4 0 Updated Aug 22, 2025
  • lightweight_vicon_bridge Public

    Bridge between Vicon DataStream SDK and ROS. Designed specifically for reduced latency.

    UM-ARM-Lab/lightweight_vicon_bridge’s past year of commit activity
    C++ 4 5 2 (1 issue needs help) 0 Updated Aug 22, 2025
  • cad-models Public

    Various CAD files that others may find useful

    UM-ARM-Lab/cad-models’s past year of commit activity
    0 0 0 0 Updated Aug 21, 2025
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