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@UM-ARM-Lab

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++ 246 39

  2. pytorch_mppi pytorch_mppi Public

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

    Python 673 70

  3. pytorch_kinematics pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    Python 738 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 184 15

Repositories

Showing 10 of 163 repositories
  • claps Public
    UM-ARM-Lab/claps’s past year of commit activity
    HTML 0 0 0 0 Updated Feb 13, 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 3,107 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
  • 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 200 0 0 Updated Feb 4, 2026
  • tactile-tasks Public
    UM-ARM-Lab/tactile-tasks’s past year of commit activity
    Python 2 0 0 0 Updated Jan 9, 2026
  • mbot_experiments Public
    UM-ARM-Lab/mbot_experiments’s past year of commit activity
    Python 1 0 1 0 Updated Dec 12, 2025
  • claps_code Public
    UM-ARM-Lab/claps_code’s past year of commit activity
    Python 1 0 0 0 Updated Dec 12, 2025
  • ccai Public

    Constrained Control-as-inference

    UM-ARM-Lab/ccai’s past year of commit activity
    Jupyter Notebook 10 2 0 0 Updated Dec 5, 2025
  • mbot_lcm_base Public Forked from mbot-project/mbot_lcm_base

    Base files for all MBots using LCM.

    UM-ARM-Lab/mbot_lcm_base’s past year of commit activity
    C 0 BSD-3-Clause 1 0 0 Updated Nov 25, 2025
  • arm_robots Public

    Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.

    UM-ARM-Lab/arm_robots’s past year of commit activity
    Python 8 1 7 2 Updated Oct 23, 2025
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