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 for JAX

jax library for E3 Equivariant Neural Networks

Lie theory for robotics

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

A state estimation package for Lie groups!

motion planning algorithms with demos for various state-spaces

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

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

Python bindings for Sophus Lie Algebra C++ Library

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"

Pure static Lie groups in Numpy, Pytorch, Jax, and C++

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