A small C++11 header-only library for Lie theory.

Computations and statistics on manifolds with geometric structures.

⟨Grassmann-Clifford-Hodge⟩ 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!

Scientific computing that fits on a microcontroller. Estimation, control, kinematics, Lie groups, calculus, autodiff and linear algebra in stable no_std Rust with no heap, no panics and no unsafe. Run the same code on your laptop and your Cortex-M0.

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

Geometric Controller of a Quadrotor on SE(3)

Control and estimation on Lie groups

Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.

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

Supplementary code for the paper "Stationary Kernels and Gaussian Processes on Lie Groups and their Homogeneous Spaces"