A small C++11 header-only library for Lie theory.

Computations and statistics on manifolds with geometric structures.

⟨Grassmann-Clifford-Hodge⟩ multilinear differential geometric algebra

A small collection of Kalman Filters on Lie groups

Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home

Rigid transforms + Lie groups in JAX

Lie theory for robotics

jax library for E3 Equivariant Neural Networks

A state estimation package for Lie groups!

Pytorch implementation of preconditioned stochastic gradient descent (affine group preconditioner, low-rank approximation preconditioner and more)

motion planning algorithms with demos for various state-spaces

Python bindings for Sophus Lie Algebra C++ Library

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

Header-only C++ library containing controllers designed for Lie Groups.

Control and estimation on Lie groups

Geometric Controller of a Quadrotor on SE(3)

Supplementary code for the paper "Stationary Kernels and Gaussian Processes on Lie Groups and their Homogeneous Spaces"

Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.

Tensorflow implementation of preconditioned stochastic gradient descent

[CVPR 2024] Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)