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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++ 243 39

  2. pytorch_mppi pytorch_mppi Public

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

    Python 624 68

  3. pytorch_kinematics pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    Python 691 58

  4. arm_pytorch_utilities arm_pytorch_utilities Public

    Utilities for working with pytorch

    Python 7 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 177 15

Repositories

Showing 10 of 158 repositories
  • IsaacLabTactile Public Forked from isaac-sim/IsaacLab

    Unified framework for robot learning built on NVIDIA Isaac Sim

    UM-ARM-Lab/IsaacLabTactile’s past year of commit activity
    Python 1 BSD-3-Clause 2,635 0 0 Updated Nov 12, 2025
  • arm_robots Public

    Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.

    UM-ARM-Lab/arm_robots’s past year of commit activity
    Python 7 1 7 2 Updated Oct 23, 2025
  • 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 1 MIT 612 0 0 Updated Oct 23, 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 177 MIT 15 4 0 Updated Oct 17, 2025
  • pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    UM-ARM-Lab/pytorch_kinematics’s past year of commit activity
    Python 691 MIT 58 16 (2 issues need help) 1 Updated Oct 16, 2025
  • ccai Public

    Constrained Control-as-inference

    UM-ARM-Lab/ccai’s past year of commit activity
    Jupyter Notebook 9 1 0 0 Updated Sep 29, 2025
  • lucca Public
    UM-ARM-Lab/lucca’s past year of commit activity
    HTML 1 0 0 0 Updated Sep 15, 2025
  • mbot_experiments Public
    UM-ARM-Lab/mbot_experiments’s past year of commit activity
    Python 1 0 1 0 Updated Sep 14, 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 11, 2025
  • arm_zivid Public

    ROS 2 wrapper for the zivid

    UM-ARM-Lab/arm_zivid’s past year of commit activity
    Python 1 0 0 0 Updated Sep 11, 2025
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