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RAFCON (RMC advanced flow control) uses hierarchical state machines, featuring concurrent state execution, to represent robot programs. It ships with a graphical user interface supporting the creation of state machines and contains IDE like debugging mechanisms. Alternatively, state machines can programmatically be generated using RAFCON's API.
Cross-platform clone of the FRC Driver Station
Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
Multi primitive-to-primitive (MP2P) ICP algorithms in C++
Creates gcode for use on drawbots
GUI, CLI, and ROS 2 messages for robot traffic flows in buildings
Lightweight, open-source (hardware and software) stereo VIO
Catkin package that provides lidar motion undistortion based on an external 6DoF pose estimation input.
Official Repository of Agentic World Action Models
Geometry-Aware Monocular RGB Planning
:video_game: Extensible, JavaScript-based driving dashboard framework for the FIRST Robotics Competition.
Robotic fabrication package for the COMPAS Framework.
The software for your friendly painting robot kit!
Official code for "Reinforcement Fine-Tuning of Flow-Matching Policies for Vision-Language-Action Models" (ICRA 2026): Flow Policy Optimization for pi0
Transformer-SRU LiDAR navigation for Unitree G1: Isaac Lab training, MuJoCo validation, and ROS 2 deployment.
Gazebo simulator for Fetch
Filters the robot's body out of point clouds and laser scans.
Balancing robot micropython code
Generate random crop fields for Ignition Gazebo
A ROS implementation of Fast and Safe Tracking (FaSTrack).
micropython flight controller
Various utilities for the Makeblock XY Plotter Robot Kit
A collection of machine-learned models for use in autonomous driving applications.
Pure python implementation of the FRC NetworkTables protocol