Model-based design and verification for robotics.

Google's Operations Research tools:

Development repository for the Triton language and compiler

Multi-Joint dynamics with Contact. A general purpose physics simulator.

Humanoid Robots Resources

A Modern C++20 Library of Unified Incremental Potential Contact.

Unified framework for robot learning built on NVIDIA Isaac Sim

DART: Dynamic Animation and Robotics Toolkit

A solver for nonlinear programming with GPU support

The Open Motion Planning Library (OMPL)

Massively parallel rigidbody physics simulation on accelerator hardware.

The public CGAL repository, see the README below

SIMD-Accelerated Sampling-based Motion Planning

A generative world for general-purpose robotics & embodied AI learning.

library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization

Github Pages template based upon HTML and Markdown for personal, portfolio-based websites.

Rigorous function approximation using Taylor models in Julia

A collection of source code for computing in the fields of mathematics, geometry, graphics, image analysis and physics.

Library for creating smooth cubic splines

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

An extension of the Flexible Collision Library

μ-Cuda, COVER THE LAST MILE OF CUDA. With features: intellisense-friendly, structured launch, automatic cuda graph generation and updating.

Code of my website

A Tool for Continuous Reachability Analysis.

Sparse Parallel Robust Algorithms Library

NumPy & SciPy for GPU

A beautiful, simple, clean, and responsive Jekyll theme for academics

An open-source library for GPU-accelerated robot learning and sim-to-real transfer.