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

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

Python bindings for Sophus Lie Algebra C++ Library

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

Control and estimation on Lie groups

Geometric Controller of a Quadrotor on SE(3)

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

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

Tensorflow implementation of preconditioned stochastic gradient descent

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