motion-planning

[CVPR 2023 Best Paper Award] Planning-oriented Autonomous Driving

😎 A curated list of robotics libraries and software

CUDA Accelerated Robot Library

[TRO 2025] NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning.

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

[ICLR 2025 Oral] The official implementation of "Diffusion-Based Planning for Autonomous Driving with Flexible Guidance"

robotic motion planning library

n-dimensional RRT, RRT* (RRT-Star)

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Universal Robot (UR5) Pick and Place Simulation in ROS-Gazebo with a USB Cam and Vacuum Grippers

PDDLStream: Integrating Symbolic Planners and Blackbox Samplers

Drone Racing @ NeurIPS 2019, built on Microsoft AirSim

Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance

A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a simulated robotic pick-and-place task.

[RA-Letter 2023] RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

[ICRA 2024] Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning

Model Predictive Path Integral Control (MPPI) with PyTorch

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

A unified end-to-end learning and control framework that is able to learn a (neural) control objective function, dynamics equation, control policy, or/and optimal trajectory in a control system.

[NeurIPS 2024] Behavioral Topology (BeTop), a multi-agent behavior formulation for interactive motion prediction and planning