Repositories list

• lucca

  Public
  roboticsmotion-planninguncertainty+ 2

  roboticsmotion-planninguncertaintyuncertainty-quantificationsafety-critical

  HTML

  •00 forks in UM-ARM-Lab/lucca•22 stars in UM-ARM-Lab/lucca•00 issues in UM-ARM-Lab/lucca•00 pull requests in UM-ARM-Lab/lucca•Updated Oct 10, 2026Oct 10, 2026

• capture

  Public
  HTML

  •00 forks in UM-ARM-Lab/capture•00 stars in UM-ARM-Lab/capture•00 issues in UM-ARM-Lab/capture•00 pull requests in UM-ARM-Lab/capture•Updated Oct 3, 2026Oct 3, 2026

• claps

  Public
  HTML

  •00 forks in UM-ARM-Lab/claps•00 stars in UM-ARM-Lab/claps•00 issues in UM-ARM-Lab/claps•00 pull requests in UM-ARM-Lab/claps•Updated Sep 25, 2026Sep 25, 2026

• IsaacLabTactile

  Public
  Unified framework for robot learning built on NVIDIA Isaac Sim

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •4k4k forks in UM-ARM-Lab/IsaacLabTactile•55 stars in UM-ARM-Lab/IsaacLabTactile•00 issues in UM-ARM-Lab/IsaacLabTactile•00 pull requests in UM-ARM-Lab/IsaacLabTactile•Updated Sep 25, 2026Sep 25, 2026

• ccai

  Public
  Constrained Control-as-inference

  Jupyter Notebook

  •11 fork in UM-ARM-Lab/ccai•1111 stars in UM-ARM-Lab/ccai•00 issues in UM-ARM-Lab/ccai•00 pull requests in UM-ARM-Lab/ccai•Updated Sep 9, 2026Sep 9, 2026

• VLABench

  Public
  Official repo of VLABench, a large scale benchmark designed for fairly evaluating VLA, Embodied Agent, and VLMs.

  Python

  •

  MIT License

  •4444 forks in UM-ARM-Lab/VLABench•00 stars in UM-ARM-Lab/VLABench•00 issues in UM-ARM-Lab/VLABench•00 pull requests in UM-ARM-Lab/VLABench•Updated Sep 8, 2026Sep 8, 2026

• ocular

  Public
  https://um-arm-lab.github.io/ocular

  HTML

  •00 forks in UM-ARM-Lab/ocular•00 stars in UM-ARM-Lab/ocular•00 issues in UM-ARM-Lab/ocular•00 pull requests in UM-ARM-Lab/ocular•Updated Sep 8, 2026Sep 8, 2026

• starVLA

  Public
  StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developing

  Python

  •

  Other

  •520520 forks in UM-ARM-Lab/starVLA•00 stars in UM-ARM-Lab/starVLA•00 issues in UM-ARM-Lab/starVLA•00 pull requests in UM-ARM-Lab/starVLA•Updated Aug 9, 2026Aug 9, 2026

• stembot-site

  Public
  Website for STEMbot, IROS 2026

  HTML

  •00 forks in UM-ARM-Lab/stembot-site•00 stars in UM-ARM-Lab/stembot-site•00 issues in UM-ARM-Lab/stembot-site•00 pull requests in UM-ARM-Lab/stembot-site•Updated Jul 13, 2026Jul 13, 2026

• pytorch_volumetric

  Public
  Volumetric structures such as voxels and SDFs implemented in pytorch

  robotkinematicsvoxel+ 7

  robotkinematicsvoxelpytorchsigned-distance-fieldsdfsigned-distance-functionsvoxelsvoxel-gridchamfer-distance

  Python

  •

  MIT License

  •1717 forks in UM-ARM-Lab/pytorch_volumetric•252252 stars in UM-ARM-Lab/pytorch_volumetric•33 issues in UM-ARM-Lab/pytorch_volumetric•00 pull requests in UM-ARM-Lab/pytorch_volumetric•Updated Jul 7, 2026Jul 7, 2026

• stembot

  Public
  STEMbot paper accepted to IROS 2026. Contains the code and documentation needed to understand and run the main paper workflows: perception, semantic mapping, mo…

  C++

  •

  Other

  •00 forks in UM-ARM-Lab/stembot•00 stars in UM-ARM-Lab/stembot•00 issues in UM-ARM-Lab/stembot•00 pull requests in UM-ARM-Lab/stembot•Updated Jun 26, 2026Jun 26, 2026

• pytorch_kinematics

  Public
  Robot kinematics implemented in pytorch

  roboticskinematicspytorch+ 2

  roboticskinematicspytorchjacobiandifferentiable-programming

  Python

  •

  MIT License

  •7272 forks in UM-ARM-Lab/pytorch_kinematics•825825 stars in UM-ARM-Lab/pytorch_kinematics•88 issues in UM-ARM-Lab/pytorch_kinematics•1414 pull requests in UM-ARM-Lab/pytorch_kinematics•Updated Jun 19, 2026Jun 19, 2026

• robot_tool_use_diffusion_policy

  Public
  A fork of the original diffusion policy paper

  Python

  •

  MIT License

  •867867 forks in UM-ARM-Lab/robot_tool_use_diffusion_policy•11 star in UM-ARM-Lab/robot_tool_use_diffusion_policy•00 issues in UM-ARM-Lab/robot_tool_use_diffusion_policy•00 pull requests in UM-ARM-Lab/robot_tool_use_diffusion_policy•Updated Jun 1, 2026Jun 1, 2026

• stucco

  Public
  Soft Tracking Using Contacts for Cluttered Objects

  trackingroboticspytorch+ 1

  trackingroboticspytorchperception

  Python

  •

  MIT License

  •00 forks in UM-ARM-Lab/stucco•33 stars in UM-ARM-Lab/stucco•00 issues in UM-ARM-Lab/stucco•11 pull request in UM-ARM-Lab/stucco•Updated May 30, 2026May 30, 2026

• base_experiments

  Public
  Shared experiments library code for many python based experiments

  Python

  •

  MIT License

  •00 forks in UM-ARM-Lab/base_experiments•11 star in UM-ARM-Lab/base_experiments•00 issues in UM-ARM-Lab/base_experiments•11 pull request in UM-ARM-Lab/base_experiments•Updated May 30, 2026May 30, 2026

• rl_games_cotrain

  Public
  RL implementations with co-training

  Jupyter Notebook

  •

  MIT License

  •223223 forks in UM-ARM-Lab/rl_games_cotrain•00 stars in UM-ARM-Lab/rl_games_cotrain•00 issues in UM-ARM-Lab/rl_games_cotrain•00 pull requests in UM-ARM-Lab/rl_games_cotrain•Updated May 20, 2026May 20, 2026

• Final_Semantic_Safety_Jason

  Public
  Creating a semantic safety planning module

  Python

  •

  MIT License

  •00 forks in UM-ARM-Lab/Final_Semantic_Safety_Jason•00 stars in UM-ARM-Lab/Final_Semantic_Safety_Jason•00 issues in UM-ARM-Lab/Final_Semantic_Safety_Jason•00 pull requests in UM-ARM-Lab/Final_Semantic_Safety_Jason•Updated May 1, 2026May 1, 2026

• claps_code

  Public
  Python

  •00 forks in UM-ARM-Lab/claps_code•22 stars in UM-ARM-Lab/claps_code•11 issue in UM-ARM-Lab/claps_code•00 pull requests in UM-ARM-Lab/claps_code•Updated Mar 16, 2026Mar 16, 2026

• pytorch_mppi

  Public
  Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

  pytorchcontrolsmodel-predictive-control+ 2

  pytorchcontrolsmodel-predictive-controlmppiapproximate-dynamics

  Python

  •

  MIT License

  •7575 forks in UM-ARM-Lab/pytorch_mppi•774774 stars in UM-ARM-Lab/pytorch_mppi•33 issues in UM-ARM-Lab/pytorch_mppi•00 pull requests in UM-ARM-Lab/pytorch_mppi•Updated Mar 15, 2026Mar 15, 2026

• pybullet_planning

  Public
  Tools for task-and-motion planning in PyBullet with robots such as PR2, Movo, Kuka

  Jupyter Notebook

  •

  MIT License

  •144144 forks in UM-ARM-Lab/pybullet_planning•00 stars in UM-ARM-Lab/pybullet_planning•00 issues in UM-ARM-Lab/pybullet_planning•00 pull requests in UM-ARM-Lab/pybullet_planning•Updated Mar 15, 2026Mar 15, 2026

• kitchen-worlds

  Public
  A library of long-horizon Task-and-Motion-Planning (TAMP) problems in kitchen and household scenes, as well as planners to solve them

  Jupyter Notebook

  •

  MIT License

  •3232 forks in UM-ARM-Lab/kitchen-worlds•00 stars in UM-ARM-Lab/kitchen-worlds•00 issues in UM-ARM-Lab/kitchen-worlds•00 pull requests in UM-ARM-Lab/kitchen-worlds•Updated Mar 15, 2026Mar 15, 2026

• arm_pytorch_utilities

  Public
  Utilities for working with pytorch

  Python

  •

  MIT License

  •11 fork in UM-ARM-Lab/arm_pytorch_utilities•88 stars in UM-ARM-Lab/arm_pytorch_utilities•00 issues in UM-ARM-Lab/arm_pytorch_utilities•00 pull requests in UM-ARM-Lab/arm_pytorch_utilities•Updated Mar 10, 2026Mar 10, 2026

• pddlstream

  Public
  Forked version of Caelan Carrett's PDDLStream: Integrating Symbolic Planners and Blackbox Samplers

  Python

  •

  GNU General Public License v3.0

  •119119 forks in UM-ARM-Lab/pddlstream•00 stars in UM-ARM-Lab/pddlstream•00 issues in UM-ARM-Lab/pddlstream•00 pull requests in UM-ARM-Lab/pddlstream•Updated Mar 3, 2026Mar 3, 2026

• tactile-tasks

  Public
  Python

  •00 forks in UM-ARM-Lab/tactile-tasks•77 stars in UM-ARM-Lab/tactile-tasks•00 issues in UM-ARM-Lab/tactile-tasks•00 pull requests in UM-ARM-Lab/tactile-tasks•Updated Feb 19, 2026Feb 19, 2026

• Blender_Robot_Animation_Tutorial

  Public
  This repository provides a tutorial on using the Phobos Blender add-on for robotic modeling. It covers the end-to-end workflow of configuring URDFs, managing ge…

  00 forks in UM-ARM-Lab/Blender_Robot_Animation_Tutorial•00 stars in UM-ARM-Lab/Blender_Robot_Animation_Tutorial•00 issues in UM-ARM-Lab/Blender_Robot_Animation_Tutorial•00 pull requests in UM-ARM-Lab/Blender_Robot_Animation_Tutorial•Updated Feb 6, 2026Feb 6, 2026

• mbot_experiments

  Public
  Python

  •00 forks in UM-ARM-Lab/mbot_experiments•11 star in UM-ARM-Lab/mbot_experiments•11 issue in UM-ARM-Lab/mbot_experiments•00 pull requests in UM-ARM-Lab/mbot_experiments•Updated Dec 12, 2025Dec 12, 2025

• arm_franky

  Public
  High-Level Control Library for Franka Robots with Python and C++ Support

  C++

  •

  GNU Lesser General Public License v3.0

  •4444 forks in UM-ARM-Lab/arm_franky•00 stars in UM-ARM-Lab/arm_franky•00 issues in UM-ARM-Lab/arm_franky•00 pull requests in UM-ARM-Lab/arm_franky•Updated Dec 10, 2025Dec 10, 2025

• mbot_lcm_base

  Public
  Base files for all MBots using LCM.

  C

  •

  BSD 3-Clause "New" or "Revised" License

  •11 fork in UM-ARM-Lab/mbot_lcm_base•00 stars in UM-ARM-Lab/mbot_lcm_base•00 issues in UM-ARM-Lab/mbot_lcm_base•00 pull requests in UM-ARM-Lab/mbot_lcm_base•Updated Nov 25, 2025Nov 25, 2025

• arm_robots

  Public
  Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.

  Python

  •11 fork in UM-ARM-Lab/arm_robots•88 stars in UM-ARM-Lab/arm_robots•77 issues in UM-ARM-Lab/arm_robots•22 pull requests in UM-ARM-Lab/arm_robots•Updated Oct 23, 2025Oct 23, 2025

• kuka_iiwa_interface

  Public
  Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK

  C++

  •

  BSD 2-Clause "Simplified" License

  •44 forks in UM-ARM-Lab/kuka_iiwa_interface•88 stars in UM-ARM-Lab/kuka_iiwa_interface•2626 issues in UM-ARM-Lab/kuka_iiwa_interface•00 pull requests in UM-ARM-Lab/kuka_iiwa_interface•Updated Sep 11, 2025Sep 11, 2025