SIMD-Accelerated Sampling-based Motion Planning

PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation

Modern background snippets: copy, paste, ready-to-use

A modular, real-time controller library for Franka Emika Panda robots

Spot SDK repo

Code for the paper "Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction" presented at CoRL 2024.

The official repository of the paper "Loss Distillation via Gradient Matching for Point Cloud Completion with Weighted Chamfer Distance"

An open, modular framework for zero-shot, language conditioned pick-and-drop tasks in arbitrary homes.

Official Implementation for Paper "ACRNet: Attention Cube Regression Network for Multi-view Real-time 3D Human Pose Estimation in Telemedicine"

[CVPR2023] PEAL: Prior-embedded Explicit Attention Learning for Low-overlap Point Cloud Registration

RPM-Net: Robust Point Matching using Learned Features (CVPR2020)

Project page of the paper "Distinctive 3D local deep descriptors" accepted in IEEE International Conference on Pattern Recognition 2020.

Project page of the paper "Learning general and distinctive 3D local deep descriptors for point cloud registration" published in IEEE T-PAMI

Minkowski Engine is an auto-diff neural network library for high-dimensional sparse tensors

prnet

Joint 3D Face Reconstruction and Dense Alignment with Position Map Regression Network (ECCV 2018)

The official codebase for Symmetric Planning (ICLR'23) and Implicit Differentiable Planning (ICLR'23)

Author's Implementation for CVPR 2020 'Neural Implicit Embedding for Point Cloud Analyisis'

Taskonomy: Disentangling Task Transfer Learning [Best Paper, CVPR2018]

Collection of Summer 2025 tech internships!

Volumetric structures such as voxels and SDFs implemented in pytorch

ROS extensions and implementations for py_trees