Library
This page highlights selected research libraries and reference implementations for geometry-aware robot learning, manipulation planning, and imitation.
RDF [code] [project]
Distance-field models of robot geometry for whole-body manipulation and planning.
CDF [code] [project]
Configuration-space distance fields for collision-aware manipulation planning.
MP-DF-DS [code] [project]
Movement primitives, distance fields, and dynamical systems for interpretable motion generation.
GPI [code] [project]
Geometry-aware imitation learning for efficient and interpretable manipulation policies.