se3

Implementation of SE3-Transformers for Equivariant Self-Attention, in Pytorch. This specific repository is geared towards integration with eventual Alphafold2 replication.

An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing

Implementation of Lie Transformer, Equivariant Self-Attention, in Pytorch

A complete, hardware-ready Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required)

Robot Motion Estimate: Tools, Variables, and Factors for SLAM in robotics; also see Caesar.jl.

SE(3) Controller for Quadrotor

SE3 interpolation and Quat+R^3 interpolation are implemented.

UKF over generalized manifold in Matlab

Register Gaussian splats: align & merge two 3DGS scans into one SE(3)/Sim(3) frame — classical, learned, or zero-shot (BUFFER-X) seeds + splat-native refine. pip install splatreg.

Lie groups and algebra with some quaternions

A C++ Eigen-based maths library for robotics applications, including SO(3) and SE(3) transformations, screw motions, robot kinematics, and control laws. All the codes are successfully tested in ROS 2 humble.

Numerically stable implementation of batched SE(3) exponential and logarithmic maps

Companion code for arXiv:2605.02252 — exact higher-order derivatives for SE(3) NLL via hybrid analytical/AD methods.

Benchmarking library for SE(3) Manifold Optimization: Geometric Dual Quaternions (GeoDQ), ESKF, and UKF-M implementations for Robotics & Navigation

Research platform for compliant robotic docking with MuJoCo, Pinocchio, impedance control, SE(3) Lie control, HQP-AC, and reproducible experiments.

Modern C++20 motion core for industrial robotics, targeting kinematics, dynamics, trajectory generation, calibration, and robust numerics.

Small, runnable generative-modelling modules: MCMC diagnostics, 2D diffusion, omics augmentation, SE(3) frames with an equivariance test

Lightweight C++ header-only template library for translation, rotation and homogeneous transformation. Requires C++17 or Later. No dependencies with other libraries and stl.

Predicted Futures Are Not Enough: Learning Executable Goals for Robot Manipulation — code, frozen goal banks and evaluation records

自研机器人运动学：位姿/变换链/FK/IK/雅可比/奇异点 + 抓取任务流水线｜纯 Python