mhubii

Academic-project-page-template. A project page template for academic papers. Demo at https://eliahuhorwitz.github.io/Academic-project-page-template/

ros_camera_server. Highly efficient ROS-compatible live video streaming server enabling low-latency robust streaming using auto-optimized GStreamer pipelines created from simple yaml configuration.

moveit_resources. URDFs, meshes, and config packages for MoveIt testing

sensorstream_driver. C++

cuda-oxide. cuda-oxide is an experimental Rust-to-CUDA compiler that lets you write (SIMT) GPU kernels in safe(ish), idiomatic Rust. It compiles standard Rust code directly to PTX — no DSLs, no foreign language bindings, just Rust.

frax. Fast Robot Kinematics and Dynamics in JAX

RobotSeg. [CVPR 2026 Oral] RobotSeg

terminal_rviz. Terminal RViz is a high-performance 3D visualizer for ROS 2 that runs entirely within a terminal environment. Built using FTXUI and a custom Braille-based software renderer, it provides a feature-rich alternative to standard RViz for headless systems, remote SSH sessions, or resource-constrained environments.

RVizSplat. Rendering 3D Gaussian Splats in RViz2

bmeis_room_booking_bot. Python

so101-ros-physical-ai. ROS 2 stack for SO-101 leader/follower: Feetech driver, bringup, teleop, MoveIt2, episode recording, Rerun, policy inference.

ros-kilted. Python

ros2_macOS. This repo provides instructions to build and run ROS 2 (Humble, Kilted, and Jazzy) natively on macOS, including dependencies, source builds, and macOS-specific fixes.

rbdl. RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

Fast-FoundationStereo. [CVPR 2026] Fast-FoundationStereo: Real-Time Zero-Shot Stereo Matching

lensboy. Camera calibration library with spline and parametric distortion models. Maximally powerful, minimally complex.

Open_Duck_Mini. Making a mini version of the BDX droid. https://discord.gg/UtJZsgfQGe

mosaico. Mosaico - The data platform for Physical AI

lance. Open Lakehouse Format for Multimodal AI. Convert from Parquet in 2 lines of code for 100x faster random access, vector index, and data versioning. Compatible with Pandas, DuckDB, Polars, Pyarrow, and PyTorch with more integrations coming..

agnocast. A rclcpp-compatible true zero-copy IPC middleware that supports all ROS message types, including message structs already generated by rosidl.

openclaw. Your own personal AI assistant. Any OS. Any Platform. The lobster way. 🦞

pixi-ros. Intialize your ROS workspace with Pixi, like you would use `rosdep`.

uv. An extremely fast Python package and project manager, written in Rust.

hiroz. Rust

URDF_kitchen. URDF build helper tools

spark. Apache Spark - A unified analytics engine for large-scale data processing

urdf_parser_py. Standalone URDF parser for Python.

build-push-action. GitHub Action to build and push Docker images with Buildx

free-disk-space. :octocat:⚙️🗑️ A GitHub Action to free disk space on an Ubuntu runner.

xacrodoc. Compile xacro files to plain URDF or MJCF from Python or the command line (no ROS required).

mlflow. The open source AI engineering platform for agents, LLMs, and ML models. MLflow enables teams of all sizes to debug, evaluate, monitor, and optimize production-quality AI applications while controlling costs and managing access to models and data.

SurroundVisionROS2. Vehicle surround-view stack | ROS 2

z1_ros2. ROS2 package for the Z1 manipulator from Unitree

lbr_fri_ros2_stack. ROS 2 integration for KUKA LBR IIWA 7/14 and Med 7/14

GPU-Connected-Components. [Code Optimisation] A pytorch wrapper for connected components on the GPU suggested to me by my advisor @tvercaut

panoptica. panoptica -- instance-wise evaluation of 3D semantic and instance segmentation maps

GitGUI. An easy on the eyes git interface

crisp_controllers. CRISP – Compliant ROS2 Controllers for Learning-Based Manipulation Policies

ethercat_driver_ros2_examples. Example repository for the EtherCAT Driver ROS2 stack

roboplan. Modern robot motion planning library based on Pinocchio.

ogma. Generator of runtime monitors for flight and robotics applications.

vcs2l. Vcs2l is a command line tool designed to make working with multiple repositories easier

neural-robot-dynamics. [CoRL 2025] Neural Robot Dynamics

monarch. PyTorch Single Controller

greenwave_monitor. ROS 2 Topic Monitoring

gdu. Fast disk usage analyzer with console interface written in Go

inpainting. Python

swaptube. youtube video renderer

n8n. Fair-code workflow automation platform with native AI capabilities. Combine visual building with custom code, self-host or cloud, 400+ integrations.

LeSurgeon. Imitation Learning (ACT policy) applied for Dexterous Manipulation tasks in surgery using LeRobot's framework

ark_unitree_g1. Integration of Unitree G1 with Ark.

FoundationPoseROS2. FoundationPoseROS2 is a ROS2-integrated system for 6D object pose estimation and tracking, based on the FoundationPose architecture. It uses RealSense2 with the Segment Anything Model 2 (SAM2) framework for end-to-end, model-based, real-time pose estimation and tracking of novel objects.

typer. Typer, build great CLIs. Easy to code. Based on Python type hints.

claude-desktop-debian. Claude Desktop for Linux

robot_steering_doc. document for "Robot Steering" iOS application

kmriiwa_ws_devel. Repository for specialization project and master thesis in Robotics & Automation, at NTNU 2019/2020

bagel. Chat with your robotics, drone, and IoT data — ChatGPT for the physical world.

realsense-ros. ROS Wrapper for RealSense™ Cameras

better_launch. A better replacement for the ROS2 launch system: intuitive, simple, memorable.

retinify. Real-Time AI Stereo Vision Library

Interface. C++

viser. Web-based 3D visualization in Python

ros-mcp-server. Connect AI models like Claude & GPT with robots using MCP and ROS.

exCLIP. Explanation for interactions between captions and images in CLIP models

roslibpy. Python ROS Bridge library

pyroki. A Modular Toolkit for Robot Kinematic Optimization

bio_ik. MoveIt kinematics_base plugin based on particle optimization & GA

da_vinci_tool_integration. Python

teams-for-linux. Unofficial Microsoft Teams for Linux client

isaac_ros_nitros. NVIDIA Isaac Transport for ROS package for hardware-acceleration friendly movement of messages

3ds-touch-openhaptics. Shell

h_vs. Implementation of 'Homography-based 2D Visual Servoing' S. Benhimane and E. Malis with ROS integration

launchmap. Interactive ROS 2 launch file visualizer for VS Code. Explore and debug launch graphs with an intuitive UI.

ark_framework. The Ark framework.

workshop-hamlyn2025. TeX

dvrk_urdf. Repository containing URDFs for dVRK Components

superansac. C++

yolo_ros. Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11, YOLOv12 for ROS 2

cloudini. Pointcloud compression library

torch-radon. Computational Tomography in PyTorch

FoundationStereo. [CVPR 2025 Best Paper Nomination] FoundationStereo: Zero-Shot Stereo Matching

minecraft_ros2. ros2 minecraft mod

CTR-EDMD. C++

pydantic-ai. AI Agent Framework, the Pydantic way

ament-lint-pre-commit-hooks. Pre-commit hooks for ament_lint.

MobileSAM. This is the official code for MobileSAM project that makes SAM lightweight for mobile applications and beyond!

Open-Platform-adaptor-for-da-vinci-si-instruments. Development of an Open-Platform Adapter to Integrate Da Vinci Si Instruments with Collaborative Robotic Systems for Educational and Research Applications

Sophus. C++ implementation of Lie Groups using Eigen.

manim. Animation engine for explanatory math videos

SpacetimeDB. Development at the speed of light

usefulscripts. A random collection of scripts for use within the group

IEEETMILatexTemplateHacks. Some workarounds useful to work with the IEEE TMI Latex template. Most of it applies to other IEEE templates.

vcpkg. C++ Library Manager for Windows, Linux, and MacOS

DALI. A GPU-accelerated library containing highly optimized building blocks and an execution engine for data processing to accelerate deep learning training and inference applications.

docker-ros2-desktop-vnc. 🐳 Dockerfiles to provide HTML5 VNC interface to access Ubuntu Desktop + ROS 2

awesome-robot-descriptions. A curated list of awesome robot descriptions (URDF, MJCF)

benchmark. A microbenchmark support library

RosBenchmarks. Some benchmarks to compare ROS1 & ROS2 perfs

FeatUp. Official code for "FeatUp: A Model-Agnostic Frameworkfor Features at Any Resolution" ICLR 2024

dvc. 🦉 Data Versioning and ML Experiments

torchcodec. PyTorch media decoding and encoding

ffmpeg_image_transport_tools. tools for processing ffmpeg_image_transport_msgs

ffmpeg_image_transport. ROS2 image transport plugin for encoding/decoding with h264 codec

latent-diffusion-segmentation. A Simple Latent Diffusion Approach for Panoptic Segmentation and Mask Inpainting [ECCV 2024]

lib-dt-apriltags. Python bindings to the Apriltags library

AW-UE150. Documentation on Panasonic AW-UE150

ros-gst-bridge. a bidirectional ros to gstreamer bridge and utilities for dynamic pipelines

gscam2. ROS2 camera driver for GStreamer-based video streams, supports intra-process communication

ros2_ipcamera. ros2 package for use with ip camera

MujocoRosUtils. ROS-based MuJoCo utilities

UltraFlwr. [MICCAI-AMAI'25] Federated YOLO with Flower and Ultralytics.

CRCD. Jupyter Notebook

ros2_roboreg. ROS 2 integration of roboreg https://github.com/lbr-stack/roboreg.

zenoh. zenoh unifies data in motion, data in-use, data at rest and computations. It carefully blends traditional pub/sub with geo-distributed storages, queries and computations, while retaining a level of time and space efficiency that is well beyond any of the mainstream stacks.

vscode. Visual Studio Code

ollama-python. Ollama Python library

ollama. Get up and running with Kimi-K2.6, GLM-5.1, MiniMax, DeepSeek, gpt-oss, Qwen, Gemma and other models.

nvdiffrast. Nvdiffrast - Modular Primitives for High-Performance Differentiable Rendering

RetiGen. Python

diffrp. Easily Programmable Render Pipelines. https://diffrp.rtfd.io/

LRBO. [JIRS 2024] A Fast and Reliable Hand-eye Calibration Method Based On 3D Vision

dear_ros_node_viewer. Dear RosNodeViewer: Visualize ROS2 Node Graph

nix-ros-overlay. ROS overlay for the Nix package manager

ros2_cmv. ROS 2 Custom Message Visualizer (CMV) is a package that can be used to generate rviz plugins for your custom messages.

ugv_ws. C

genesis-world. Simulation platform for general-purpose robotics & embodied AI learning.

handeye_calibration_ros2. ROS2 Package for Hand-Eye Calibration

stEVE_rl. Python

RotationContinuity. Coder for "On the Continuity of Rotation Representations"

ros2_rust. Rust bindings for ROS 2

mecademic_desctiption. selfmade description for mecademic

kuka_lbr_control. A repository for controlling the KUKA lbr iiwa or med with different control algorithms

ros2_effort_controller. C++

realtime_tools. Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.

autoware. Autoware - the world's leading open-source software project for autonomous driving

zenoh-pico. Eclipse zenoh for pico devices

ros2_controllers. Generic robotic controllers to accompany ros2_control

backport-action. Fast and flexible GitHub action to cherry-pick merged pull requests to selected branches

colcon-poetry-ros. An extension for colcon-core that adds support for Poetry in ROS projects

RRT. Python implementation of RRT path planning algorithm

fast-simplification. Fast Quadratic Mesh Simplification

mesh_simplification. Python script for "Quadric Edge Collapse Decimation"

kobuki. Python

ros-jazzy. Recipes and patches for ros-jazzy conda packages

linux. Linux kernel source tree

cactus-rt. A C++ framework for programming real-time applications

pytorch-cpp. C++ Implementation of PyTorch Tutorials for Everyone

mujoco_ros_interface. C++

MICCAI2023-Camera-Motion-Prediction. Predicting and estimating camera motion in endoscopic interventions

slicer_ros2_module. Slicer module that can interface directly with ROS 2 using ROS parameters, topics, tf...

physgen. PhysGen: Rigid-Body Physics-Grounded Image-to-Video Generation (ECCV 2024)

HyperSpace. Code for the MICCAI 2024 paper "HyperSpace: Hypernetworks for spacing-adaptive image segmentation"

geomagic_touch_x_ros2. ROS package for control of 3D Systems Geomagic Touch X.

BehaviorTree.CPP. Behavior Trees Library in C++. Batteries included.

nanopb. Protocol Buffers with small code size

turtle_nest. ROS 2 Package Creator

ros_babel_fish. ROS 2 message introspection library to allow ROS 2 communication with at compile time unknown message, action and service types.

robotics.rs. web site of robotics.rs. See index.md.

rospy_message_converter. Converts between Python dictionaries and JSON to ROS messages.

rcl_logging_syslog. rcl_logging_syslog is alternative logging backend implementation that can be used for ROS 2 application via rcl_logging_interface.

ros2-keyboard. Keyboard driver for ROS 2.

FusionSDF. Export Fusion 360 designs to SDF (Simulation Description Format)

llama3. The official Meta Llama 3 GitHub site

wbc. C++ library for optimization-based control of redundant robots

semi-synthetic. Image Compositing for Segmentation of Surgical Tools without Manual Annotations

vuer. Vuer is a 3D visualization tool for robotics and VR applications.

albumentations. Fast and flexible image augmentation library. Paper about the library: https://www.mdpi.com/2078-2489/11/2/125

nnUNet. Python

pytorch. Tensors and Dynamic neural networks in Python with strong GPU acceleration

sam2. The repository provides code for running inference with the Meta Segment Anything Model 2 (SAM 2), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.

pytorch_kinematics. Robot kinematics implemented in pytorch

nvdiffrast. Nvdiffrast - Modular Primitives for High-Performance Differentiable Rendering

kaolin. A PyTorch Library for Accelerating 3D Deep Learning Research

pytorch3d. PyTorch3D is FAIR's library of reusable components for deep learning with 3D data

ocean. Ocean is the in-house framework for Computer Vision (CV) and Augmented Reality (AR) applications at Meta. It is platform independent and is mainly implemented in C/C++.

isaac_ros_cumotion. NVIDIA-accelerated packages for arm motion planning and control

go2_robot. CMake

CLIP. CLIP (Contrastive Language-Image Pretraining), Predict the most relevant text snippet given an image

franka_ros2. ROS 2 integration for Franka research robots

dockerfiles. Dockerfiles I use for development

workshop-hamlyn2024. Hamlyn workshop on Open-Source Software for Surgical Technologies 2024

dora. DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed dataflow capabilities. Applications are modeled as directed graphs, also referred to as pipelines.

rmw_cyclonedds. ROS 2 RMW layer for Eclipse Cyclone DDS

KCL-DGX-cluster-documentation. Python

dual_kuka_fri. C++

wbc_ros. ROS2 wrappers for the Whole-Body Control library

moveit2. :robot: MoveIt for ROS 2

doxysphinx. A lightweight Doxygen extension for Sphinx

domain_bridge. Bridge communication across different ROS 2 domains.

DINO-DLL. A C++ HoloLens 2 DLL used for detecting and tracking infrared markers with the Research Mode API

pymodsurgical. pyModSurgical provides tools to generate modal analysis of surgical video and learn soft tissue dynamics.

rtds-action. Interface ReadTheDocs and GitHub Actions

point_cloud_transport. Point Cloud Compression for ROS

lcm. Lightweight Communications and Marshalling

ros2_bag_to_image. Set of nodes to convert either online of offline image messages to image files

apriltag. AprilTag is a visual fiducial system popular for robotics research.

apriltag_ros. ROS 2 node for AprilTag detection

rviz2_rotatable_image_plugin. RViz2 plugin to rotate sensor_msgs::msg::Image for visualisation purposes.

devika. Devika is the first open-source implementation of an Agentic Software Engineer. Initially started as an open-source alternative to Devin.

transferring-relative-monocular-depth-to-surgical-vision. [MICCAI 2024] This is the official repository for our state-of-the-art approach to monocular depth in surgical vision as presented in our paper.