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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++ 247 40

  2. pytorch_mppi pytorch_mppi Public

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

    Python 680 71

  3. pytorch_kinematics pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    Python 747 67

  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++ 34 15

  6. pytorch_volumetric pytorch_volumetric Public

    Volumetric structures such as voxels and SDFs implemented in pytorch

    Python 186 15

Repositories

Showing 10 of 167 repositories
  • lucca Public
    UM-ARM-Lab/lucca’s past year of commit activity
    HTML 1 0 0 0 Updated Mar 4, 2026
  • pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    UM-ARM-Lab/pytorch_kinematics’s past year of commit activity
    Python 747 MIT 67 6 (2 issues need help) 3 Updated Mar 4, 2026
  • kitchen-worlds Public Forked from Learning-and-Intelligent-Systems/kitchen-worlds

    A library of long-horizon Task-and-Motion-Planning (TAMP) problems in kitchen and household scenes, as well as planners to solve them

    UM-ARM-Lab/kitchen-worlds’s past year of commit activity
    Jupyter Notebook 0 MIT 32 0 0 Updated Mar 3, 2026
  • pddlstream Public Forked from zt-yang/pddlstream

    Forked version of Caelan Carrett's PDDLStream: Integrating Symbolic Planners and Blackbox Samplers

    UM-ARM-Lab/pddlstream’s past year of commit activity
    Python 0 GPL-3.0 116 0 0 Updated Mar 3, 2026
  • pybullet_planning Public Forked from zt-yang/pybullet_planning

    Tools for task-and-motion planning in PyBullet with robots such as PR2, Movo, Kuka

    UM-ARM-Lab/pybullet_planning’s past year of commit activity
    Jupyter Notebook 0 MIT 138 0 0 Updated Mar 3, 2026
  • rl_games_cotrain Public Forked from Denys88/rl_games

    RL implementations with co-training

    UM-ARM-Lab/rl_games_cotrain’s past year of commit activity
    Jupyter Notebook 0 MIT 201 0 0 Updated Mar 2, 2026
  • 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 5 BSD-3-Clause 3,187 0 0 Updated Feb 26, 2026
  • tactile-tasks Public
    UM-ARM-Lab/tactile-tasks’s past year of commit activity
    Python 2 0 0 0 Updated Feb 19, 2026
  • claps Public
    UM-ARM-Lab/claps’s past year of commit activity
    HTML 0 0 0 0 Updated Feb 13, 2026
  • Blender_Robot_Animation_Tutorial Public

    This repository provides a tutorial on using the Phobos Blender add-on for robotic modeling. It covers the end-to-end workflow of configuring URDFs, managing geometric models, and preparing assets for robotic simulation and motion planning.

    UM-ARM-Lab/Blender_Robot_Animation_Tutorial’s past year of commit activity
    0 0 0 0 Updated Feb 6, 2026
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