Stars
This package contains the common algorithms in robotic arm, and I have developed it based on universal robot. It will be continuously updateing.
Tools for gravity compensation and force-torque sensor calibration.
This repository contains different examples for various URScript implementations.
Python Code for control of UR5e robot in 125[Hz]. Includes trajectory planner, controller and more.
Official Repository of "Learning to Reason under Off-Policy Guidance"
Kalman Filter book using Jupyter Notebook. Focuses on building intuition and experience, not formal proofs. Includes Kalman filters,extended Kalman filters, unscented Kalman filters, particle filte…
A collection of tools and plugins for Gazebo
Robotiq packages (http://wiki.ros.org/robotiq)
ros2 driver for the robotiq force torque sensor
Gym-Styled UR5 arm with Robotiq-85 / 140 gripper in Bullet simulator
Implementation of **Learning of Efficient Stable Robot Grasping Approach Using Transformer-based Control Policy**
Integration of uSkin tactile sensors into TM Robot and Robotiq gripper using socket programming.
This is the official implementation of the paper "ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy".
[AAAI' 25] U-KAN Makes Strong Backbone for Medical Image Segmentation and Generation
[RSS 2025] Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
[RSS 2025] TactAR teleopeartion APP in "Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation"
A GPU accelerated library for computing rigid body dynamics with analytical gradients
A list of projects that were or will be featured in Weekly Robotics newsletter
MUKCa: Minimal and Userfriendly Kinematics Calibration for Redundant Manipulators
Isaac Gym Environments for Legged Robots
Inverse kinematics and subproblem solutions from "IK-Geo: Unified robot inverse kinematics using subproblem decomposition" implemented in MATLAB, C++, Rust, and Python.