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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++ 249 40

  2. pytorch_mppi pytorch_mppi Public

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

    Python 758 75

  3. pytorch_kinematics pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    Python 817 70

  4. pytorch_volumetric pytorch_volumetric Public

    Volumetric structures such as voxels and SDFs implemented in pytorch

    Python 249 17

  5. arm_pytorch_utilities arm_pytorch_utilities Public

    Utilities for working with pytorch

    Python 8 1

  6. cdcpd cdcpd Public

    Library for Constrained Deformable Coherent Point Drift

    C++ 34 16

Repositories

Showing 10 of 174 repositories
  • lucca Public
    UM-ARM-Lab/lucca's past year of commit activity
    HTML 2 0 0 0 Updated Sep 18, 2026
  • ccai Public

    Constrained Control-as-inference

    UM-ARM-Lab/ccai's past year of commit activity
    Jupyter Notebook 11 2 0 0 Updated Sep 9, 2026
  • VLABench Public Forked from OpenMOSS/VLABench

    Official repo of VLABench, a large scale benchmark designed for fairly evaluating VLA, Embodied Agent, and VLMs.

    UM-ARM-Lab/VLABench's past year of commit activity
    Python 0 MIT 42 0 0 Updated Sep 8, 2026
  • ocular Public

    https://um-arm-lab.github.io/ocular

    UM-ARM-Lab/ocular's past year of commit activity
    HTML 0 0 0 0 Updated Sep 8, 2026
  • claps Public
    UM-ARM-Lab/claps's past year of commit activity
    HTML 0 0 0 0 Updated Sep 8, 2026
  • capture Public
    UM-ARM-Lab/capture's past year of commit activity
    HTML 0 0 0 0 Updated Sep 8, 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 3,914 0 0 Updated Sep 7, 2026
  • starVLA Public Forked from starVLA/starVLA

    StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developing

    UM-ARM-Lab/starVLA's past year of commit activity
    Python 0 486 0 0 Updated Aug 9, 2026
  • stembot-site Public

    Website for STEMbot, IROS 2026

    UM-ARM-Lab/stembot-site's past year of commit activity
    HTML 0 0 0 0 Updated Jul 13, 2026
  • pytorch_volumetric Public

    Volumetric structures such as voxels and SDFs implemented in pytorch

    UM-ARM-Lab/pytorch_volumetric's past year of commit activity
    Python 249 MIT 17 3 0 Updated Jul 7, 2026
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