Heimdall

A comprehensive code repository for AI & Robotics.

Contents

Bound to a long term development. Below is the list of present contents:

• Datatypes (Pydantic based):

  • Camera Intrinsic & Extrinsic
  • Image
  • Pose (SE3 & SO3)

• PyTorch-Lightning Templates:

  • Trainer
  • MLP
  • Dataloader

• Distances:

  • SO3 & SE3 manifold distances

• Pointcloud:

  • Furthest point sampling
  • Ball query

• Robotics:

  • Stable inverse jacobian
  • Planar & geodesic trajectory generation

• Transformers:

  • Upto 3D-Rotatory position embeddings
  • Temporal-Image patch embedder
  • Fast multi-head pooling attention module (MHA / MHPA)
  • For Vision: ViT, MViT-v2 (auto-adaptable)
  • For Video : MViT-v2

• Visual object generalization:

  • Dense Object Nets (DON)
  • KeypointNet