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@DAIRLab Dynamic Autonomy and Intelligent Robotics Lab

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    37 repositories

    • c3

      Public
      Consensus Complementarity Control
      C++
      •
      MIT License
      •2•17•13•0•Updated Apr 24, 2026Apr 24, 2026

    • dairlib

      Public
      C++
      •
      MIT License
      •33•109•24•10•Updated Apr 24, 2026Apr 24, 2026

    • dair_exploration

      Public
      Active Tactile Exploration
      Python
      •
      MIT License
      •1•0•0•0•Updated Apr 22, 2026Apr 22, 2026

    • task_board_urdf

      Public
      0•0•0•0•Updated Apr 21, 2026Apr 21, 2026

    • spacemouse_driver

      Public
      LCM Driver for SpaceMouse
      C++
      •
      MIT License
      •0•0•0•0•Updated Mar 31, 2026Mar 31, 2026

    • robotiq_gripper

      Public
      A C++ client with Python binding to interact with the robotiq gripper
      C++
      •0•3•0•0•Updated Mar 31, 2026Mar 31, 2026

    • drake-ur-driver

      Public
      C++
      •0•1•0•0•Updated Mar 31, 2026Mar 31, 2026

    • push-anything

      Public
      Website for "Push Anything:" single- and multi-object pushing from first sight with contact-implicit MPC
      HTML
      •
      MIT License
      •4•0•0•0•Updated Mar 5, 2026Mar 5, 2026

    • dair_pll

      Public
      DAIRLab Physics-based Learning Library
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •5•14•2•0•Updated Feb 23, 2026Feb 23, 2026

    • activetactile

      Public
      Active Tactile Exploration Web Space
      JavaScript
      •
      MIT License
      •0•0•0•0•Updated Feb 19, 2026Feb 19, 2026

    • libbot2

      Public
      Fork of Libbot2
      GNU Lesser General Public License v3.0
      •53•1•0•0•Updated Nov 8, 2025Nov 8, 2025

    • dairlab.github.io

      Public
      DAIRLab GitHub Pages
      HTML
      •0•0•0•0•Updated Oct 15, 2025Oct 15, 2025

    • vysics

      Public
      Python
      •
      Other
      •2•12•0•1•Updated Sep 29, 2025Sep 29, 2025

    • FoundationPose

      Public
      This is a copy of NVidia's FoundationPose which will contain changes for me to use it with my research at the GRASPLab@UPenn.
      Python
      •
      Other
      •466•0•0•0•Updated Aug 2, 2025Aug 2, 2025

    • vision_physics_bridge

      Public
      An internal package for data processing of the vision contact learning project.
      Python
      •1•0•0•0•Updated Jul 11, 2025Jul 11, 2025

    • invariant-ekf

      Public
      C++ library to implement invariant extended Kalman filtering for aided inertial navigation.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •117•6•0•0•Updated Jun 23, 2025Jun 23, 2025

    • dair_pll_vision

      Public
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Jun 23, 2025Jun 23, 2025

    • acd2d

      Public
      Approximate Convex Decomposition of Polygons
      C++
      •
      MIT License
      •22•0•0•0•Updated Nov 16, 2024Nov 16, 2024

    • cassie-mujoco-sim

      Public
      A simulation library for Agility Robotics' Cassie robot using MuJoCo
      C
      •87•5•0•0•Updated May 20, 2024May 20, 2024

    • elevation_mapping_cupy

      Public
      Elevation Mapping on GPU.
      C++
      •
      MIT License
      •175•2•0•0•Updated Oct 23, 2023Oct 23, 2023

    • robot_fingers

      Public
      Drivers, examples and basic scripts for the (Tri-)Finger robots.
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •15•0•0•0•Updated Mar 15, 2023Mar 15, 2023

    • cassie_documentation

      Public
      Wiki for Cassie-related information/tutorials
      0•0•0•0•Updated Jan 16, 2023Jan 16, 2023

    • cassie_impact_dataset

      Public
      State and input trajectory dataset for the bipedal robot Cassie near impact for highly dynamics motions
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•3•0•0•Updated Oct 11, 2022Oct 11, 2022

    • contact-nets

      Public
      Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations
      machine-learningpytorchcontact-dynamics
      machine-learningpytorchcontact-dynamics
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •3•53•1•0•Updated Apr 30, 2022Apr 30, 2022

    • Learning-LCS

      Public
      A new learning formulation/method to learn/identify a piecewise linear system, also named as linear complementarity system.
      Python
      •5•7•0•0•Updated Apr 4, 2022Apr 4, 2022

    • drake-pytorch

      Public
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •1•10•0•0•Updated Mar 29, 2022Mar 29, 2022

    • apex

      Public
      A continuous deep reinforcement learning framework for robotics
      Python
      •
      MIT License
      •32•0•0•0•Updated Feb 18, 2022Feb 18, 2022

    • signal-scope

      Public
      A live plotting tool for LCM message fields.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •18•0•0•0•Updated Sep 30, 2021Sep 30, 2021

    • SOSBipeds

      Public
      MATLAB
      •
      BSD 3-Clause "New" or "Revised" License
      •2•1•0•0•Updated Sep 8, 2021Sep 8, 2021

    • tagslam_root

      Public
      Root repository for complete kuka vision setup
      Apache License 2.0
      •47•0•0•0•Updated Aug 12, 2021Aug 12, 2021
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