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@UM-ARM-Lab The Autonomous Robotic Manipulation Lab

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    154 repositories

    • robot_tool_use_diffusion_policy

      Public
      A fork of the original diffusion policy paper
      Python
      •
      MIT License
      •535•0•0•0•Updated Aug 6, 2025Aug 6, 2025

    • ccai

      Public
      Constrained Control-as-inference
      Jupyter Notebook
      •0•6•0•0•Updated Aug 6, 2025Aug 6, 2025

    • kuka_iiwa_interface

      Public
      Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
      C++
      •
      BSD 2-Clause "Simplified" License
      •4•8•26•0•Updated Aug 1, 2025Aug 1, 2025

    • arm_zivid

      Public
      ROS 2 wrapper for the zivid
      Python
      •0•1•0•0•Updated Jul 28, 2025Jul 28, 2025

    • pytorch_volumetric

      Public
      Volumetric structures such as voxels and SDFs implemented in pytorch
      robotkinematicsvoxelpytorchsigned-distance-fieldsdfsigned-distance-functionsvoxelsvoxel-gridchamfer-distance
      Python
      •
      MIT License
      •14•164•4•0•Updated Jul 28, 2025Jul 28, 2025

    • arm_robots

      Public
      Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.
      Python
      •1•8•7•2•Updated Jul 28, 2025Jul 28, 2025

    • tensor-ipc

      Public
      Tensor IPC framework for passing tensors between robot executors, sensors, and ML policy
      Python
      •
      MIT License
      •1•0•0•0•Updated Jul 25, 2025Jul 25, 2025

    • RoboStack-humble-ARM

      Public
      Recipes for ROS 2 Humble Hawksbill
      Shell
      •57•0•0•0•Updated Jun 17, 2025Jun 17, 2025

    • base_experiments

      Public
      Shared experiments library code for many python based experiments
      Python
      •
      MIT License
      •0•1•0•0•Updated Apr 20, 2025Apr 20, 2025

    • pytorch_kinematics

      Public
      Robot kinematics implemented in pytorch
      kinematicsjacobiandifferentiable-programmingroboticspytorch
      Python
      •
      MIT License
      •52•633•16•1•Updated Mar 20, 2025Mar 20, 2025

    • MultiFingerTrajOpt

      Public
      Python
      •
      Apache License 2.0
      •0•4•0•0•Updated Mar 18, 2025Mar 18, 2025

    • lucca

      Public
      HTML
      •0•0•0•0•Updated Mar 14, 2025Mar 14, 2025

    • MFR_benchmark

      Public
      Multi-finger Reorientation benchmark featuring sensitive dexterous manipulation tasks
      Python
      •0•6•0•0•Updated Dec 12, 2024Dec 12, 2024

    • pytorch_mppi

      Public
      Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
      pytorchcontrolsmodel-predictive-controlmppiapproximate-dynamics
      Python
      •
      MIT License
      •66•584•3•0•Updated Nov 14, 2024Nov 14, 2024

    • stucco_experiments

      Public
      Experiments for STUCCO
      Python
      •
      MIT License
      •0•0•0•0•Updated Aug 28, 2024Aug 28, 2024

    • conq_python

      Public
      Python library and example scripts for Conq, our Boston Dynamics Spot
      Jupyter Notebook
      •
      MIT License
      •2•3•13•1•Updated Aug 26, 2024Aug 26, 2024

    • arm_utilities

      Public
      new arm utilities repo
      C++
      •0•1•0•0•Updated Aug 22, 2024Aug 22, 2024

    • chsel

      Public
      Constrained pose Hypothesis Set Elimination official code for pose estimation
      Python
      •
      MIT License
      •2•14•0•0•Updated Aug 14, 2024Aug 14, 2024

    • mjregrasping

      Public
      Code accompanying "The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables"
      Python
      •0•5•1•0•Updated Aug 2, 2024Aug 2, 2024

    • conq_ros

      Public
      ROS2 integration for Conq, our Boston Dynamics Spot Robot
      Python
      •
      Other
      •0•1•0•0•Updated Jul 25, 2024Jul 25, 2024

    • chsel_experiments

      Public
      Experiments for the CHSEL paper
      Python
      •
      MIT License
      •0•0•0•0•Updated Jul 13, 2024Jul 13, 2024

    • stucco

      Public
      Soft Tracking Using Contacts for Cluttered Objects
      trackingroboticsperceptionpytorch
      Python
      •
      MIT License
      •0•3•0•0•Updated Jun 13, 2024Jun 13, 2024

    • arm_pytorch_utilities

      Public
      Utilities for working with pytorch
      Python
      •
      MIT License
      •1•8•0•0•Updated Jun 7, 2024Jun 7, 2024

    • arc_utilities

      Public
      C++ and Python utilities. ARC -> ARM
      C++
      •
      BSD 2-Clause "Simplified" License
      •8•13•12•1•Updated May 20, 2024May 20, 2024

    • spot_sdk

      Public
      Python
      •
      Other
      •0•0•0•0•Updated Apr 15, 2024Apr 15, 2024

    • pytorch_icem

      Public
      Parallelized pytorch implementation of iCEM
      Python
      •
      MIT License
      •3•13•0•2•Updated Apr 9, 2024Apr 9, 2024

    • tampc

      Public
      Trap aware model predictive control
      Python
      •1•5•1•0•Updated Apr 1, 2024Apr 1, 2024

    • mjregrasping_cpp

      Public
      C++
      •0•2•0•0•Updated Mar 26, 2024Mar 26, 2024

    • vr_ros2_bridge

      Public
      Unity project and ROS 2 interface definitions for using the HTC Vive
      C#
      •0•12•0•0•Updated Mar 15, 2024Mar 15, 2024

    • arm_clouds

      Public
      Simple module for convenient NumPy and PyTorch point cloud utilities
      Python
      •
      MIT License
      •0•1•0•0•Updated Mar 12, 2024Mar 12, 2024