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@UM-ARM-Lab The Autonomous Robotic Manipulation Lab

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    170 repositories

    • IsaacLabTactile

      Public
      Unified framework for robot learning built on NVIDIA Isaac Sim
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •3.7k•5•0•0•Updated Jun 22, 2026Jun 22, 2026

    • pytorch_volumetric

      Public
      Volumetric structures such as voxels and SDFs implemented in pytorch
      robotkinematicsvoxel
      robotkinematicsvoxelpytorchsigned-distance-fieldsdfsigned-distance-functionsvoxelsvoxel-gridchamfer-distance
      Python
      •
      MIT License
      •17•248•2•0•Updated Jun 19, 2026Jun 19, 2026

    • pytorch_kinematics

      Public
      Robot kinematics implemented in pytorch
      roboticskinematicspytorch
      roboticskinematicspytorchjacobiandifferentiable-programming
      Python
      •
      MIT License
      •70•803•7•3•Updated Jun 19, 2026Jun 19, 2026

    • ccai

      Public
      Constrained Control-as-inference
      Jupyter Notebook
      •2•10•0•0•Updated Jun 19, 2026Jun 19, 2026

    • capture

      Public
      HTML
      •0•0•0•0•Updated Jun 18, 2026Jun 18, 2026

    • ocular

      Public
      https://um-arm-lab.github.io/ocular
      HTML
      •0•0•0•0•Updated Jun 15, 2026Jun 15, 2026

    • claps

      Public
      HTML
      •0•0•0•0•Updated Jun 8, 2026Jun 8, 2026

    • robot_tool_use_diffusion_policy

      Public
      A fork of the original diffusion policy paper
      Python
      •
      MIT License
      •791•1•0•0•Updated Jun 1, 2026Jun 1, 2026

    • stucco

      Public
      Soft Tracking Using Contacts for Cluttered Objects
      trackingroboticspytorch
      trackingroboticspytorchperception
      Python
      •
      MIT License
      •0•3•0•1•Updated May 30, 2026May 30, 2026

    • base_experiments

      Public
      Shared experiments library code for many python based experiments
      Python
      •
      MIT License
      •0•1•0•1•Updated May 30, 2026May 30, 2026

    • rl_games_cotrain

      Public
      RL implementations with co-training
      Jupyter Notebook
      •
      MIT License
      •213•0•0•0•Updated May 20, 2026May 20, 2026

    • Final_Semantic_Safety_Jason

      Public
      Creating a semantic safety planning module
      Python
      •
      MIT License
      •0•0•0•0•Updated May 1, 2026May 1, 2026

    • lucca

      Public
      roboticsmotion-planninguncertainty
      roboticsmotion-planninguncertaintyuncertainty-quantificationsafety-critical
      HTML
      •0•1•0•0•Updated Apr 30, 2026Apr 30, 2026

    • claps_code

      Public
      Python
      •0•1•0•0•Updated Mar 16, 2026Mar 16, 2026

    • pytorch_mppi

      Public
      Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
      pytorchcontrolsmodel-predictive-control
      pytorchcontrolsmodel-predictive-controlmppiapproximate-dynamics
      Python
      •
      MIT License
      •73•720•3•0•Updated Mar 15, 2026Mar 15, 2026

    • pybullet_planning

      Public
      Tools for task-and-motion planning in PyBullet with robots such as PR2, Movo, Kuka
      Jupyter Notebook
      •
      MIT License
      •144•0•0•0•Updated Mar 15, 2026Mar 15, 2026

    • kitchen-worlds

      Public
      A library of long-horizon Task-and-Motion-Planning (TAMP) problems in kitchen and household scenes, as well as planners to solve them
      Jupyter Notebook
      •
      MIT License
      •32•0•0•0•Updated Mar 15, 2026Mar 15, 2026

    • arm_pytorch_utilities

      Public
      Utilities for working with pytorch
      Python
      •
      MIT License
      •1•7•0•0•Updated Mar 10, 2026Mar 10, 2026

    • pddlstream

      Public
      Forked version of Caelan Carrett's PDDLStream: Integrating Symbolic Planners and Blackbox Samplers
      Python
      •
      GNU General Public License v3.0
      •118•0•0•0•Updated Mar 3, 2026Mar 3, 2026

    • tactile-tasks

      Public
      Python
      •0•4•0•0•Updated Feb 19, 2026Feb 19, 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 ge…
      0•0•0•0•Updated Feb 6, 2026Feb 6, 2026

    • mbot_experiments

      Public
      Python
      •0•1•1•0•Updated Dec 12, 2025Dec 12, 2025

    • arm_franky

      Public
      High-Level Control Library for Franka Robots with Python and C++ Support
      C++
      •
      GNU Lesser General Public License v3.0
      •37•0•0•0•Updated Dec 10, 2025Dec 10, 2025

    • mbot_lcm_base

      Public
      Base files for all MBots using LCM.
      C
      •
      BSD 3-Clause "New" or "Revised" License
      •1•0•0•0•Updated Nov 25, 2025Nov 25, 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 Oct 23, 2025Oct 23, 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 Sep 11, 2025Sep 11, 2025

    • arm_zivid

      Public
      ROS 2 wrapper for the zivid
      Python
      •0•1•0•0•Updated Sep 11, 2025Sep 11, 2025

    • arc_utilities

      Public
      C++ and Python utilities. ARC -> ARM
      C++
      •
      BSD 2-Clause "Simplified" License
      •8•13•12•1•Updated Sep 3, 2025Sep 3, 2025

    • RoboStack-humble-ARM

      Public
      Recipes for ROS 2 Humble Hawksbill
      Shell
      •75•0•0•0•Updated Sep 1, 2025Sep 1, 2025

    • vicon2lcm

      Public
      A small bridge to publish Vicon DataStream SDK data as LCM messages. Includes simple velocity estimation.
      C++
      •0•1•0•0•Updated Aug 25, 2025Aug 25, 2025
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