Computations and statistics on manifolds with geometric structures.
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Updated
Jul 10, 2024 - Jupyter Notebook
Computations and statistics on manifolds with geometric structures.
A small C++11 header-only library for Lie theory.
⟨Grassmann-Clifford-Hodge⟩ multilinear differential geometric algebra
A small collection of Kalman Filters on Lie groups
motion planning algorithms with demos for various state-spaces
Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home
Lie theory for robotics
jax library for E3 Equivariant Neural Networks
Geometric Controller of a Quadrotor on SE(3)
Rigid transforms + Lie groups in JAX
Tensorflow implementation of preconditioned stochastic gradient descent
Turtlebot3 with EKF SLAM and Inverse Kinematics from Scratch
Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.
A state estimation package for Lie groups!
Python bindings for Sophus Lie Algebra C++ Library
Lie groups and algebra with some quaternions
Control and estimation on Lie groups
Pytorch implementation of preconditioned stochastic gradient descent (affine group preconditioner, low-rank approximation preconditioner and more)
Header-only C++ library containing controllers designed for Lie Groups.
Implementation-focused introduction to Lie groups for roboticists
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