Computations and statistics on manifolds with geometric structures.
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Updated
Jul 17, 2024 - Jupyter Notebook
Computations and statistics on manifolds with geometric structures.
Pytorch implementation of preconditioned stochastic gradient descent (affine group preconditioner, low-rank approximation preconditioner and more)
Official implementation of Lie Group Decompositions for Equivariant Neural Networks (ICLR 2024)
Rigid transforms + Lie groups in JAX
Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home
A small C++11 header-only library for Lie theory.
A state estimation package for Lie groups!
⟨Grassmann-Clifford-Hodge⟩ multilinear differential geometric algebra
Maurer-Cartan-Lie frame connections ∇ Grassmann.jl TensorField derivations
jax library for E3 Equivariant Neural Networks
Rigid transform using Lie groups and Dual Quaternions, written in CasADi!
[CVPR 2024] Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)
Lie theory for robotics
[T-RO] Python implementation of PRobabilistically-Informed Motion Primitives (PRIMP)
[T-RO] MATLAB implementation of PRobabilistically-Informed Motion Primitives (PRIMP), a learning-from-demonstration method on Lie group.
Control and estimation on Lie groups
ROS package to convert position to velocity
Pure static Lie groups in Numpy, Jax, and C++
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