Implementation of SE3-Transformers for Equivariant Self-Attention, in Pytorch. This specific repository is geared towards integration with eventual Alphafold2 replication.
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Aug 28, 2025 - Python
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se3
Here are 21 public repositories matching this topic...
An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing
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Aug 23, 2021 - C++
Implementation of Lie Transformer, Equivariant Self-Attention, in Pytorch
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Feb 19, 2021 - Python
A complete, hardware-ready Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required)
drone robotics px4 mpc dynamical-systems quadrotor convex-optimization se3 model-predictive-control real-time-control koopman-operator px4-ros2-gazebo linear-mpc koopman-mpc data-free-koopman koopman-quadrotor python-mpc-acados koopman-model-predictive-control koopman-lmpc quadrotor-hardware-python
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Aug 29, 2026 - Python
Robot Motion Estimate: Tools, Variables, and Factors for SLAM in robotics; also see Caesar.jl.
robotics navigation julia-language imu quaternion sensors slam state-estimation se2 se3 so3 inertial-sensors preintegration multimodal-isam inertial-odometry retroactive-bias-estimation
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Aug 11, 2026 - Julia
SE3 interpolation and Quat+R^3 interpolation are implemented.
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Aug 12, 2020 - C++
Lie groups and algebra with some quaternions
euler quaternion lie-groups se2 3d 2d se3 so3 logmap lie-algebra rotations-operations expmap rigid-transformations
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Oct 14, 2025 - Julia
Register Gaussian splats: align & merge two 3DGS scans into one SE(3)/Sim(3) frame — classical, learned, or zero-shot (BUFFER-X) seeds + splat-native refine. pip install splatreg.
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Jul 25, 2026 - Python
A C++ Eigen-based maths library for robotics applications, including SO(3) and SE(3) transformations, screw motions, robot kinematics, and control laws. All the codes are successfully tested in ROS 2 humble.
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Apr 25, 2026 - C++
Numerically stable implementation of batched SE(3) exponential and logarithmic maps
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Apr 23, 2024 - Python
Companion code for arXiv:2605.02252 — exact higher-order derivatives for SE(3) NLL via hybrid analytical/AD methods.
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Jul 15, 2026 - Rust
Benchmarking library for SE(3) Manifold Optimization: Geometric Dual Quaternions (GeoDQ), ESKF, and UKF-M implementations for Robotics & Navigation
python benchmark computer-vision robotics navigation numba sensor-fusion state-estimation kalman-filter se3 manifold-optimization dual-quaternions
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May 22, 2026 - Jupyter Notebook
Lightweight C++ header-only template library for translation, rotation and homogeneous transformation. Requires C++17 or Later. No dependencies with other libraries and stl.
embedded robotics vector matrix quaternion header-only cpp17 rotation lie-groups dual-quaternion se3 so3 template-library rotation-matrix rigid-body-motions
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Nov 30, 2024 - C++
Modern C++20 motion core for industrial robotics, targeting kinematics, dynamics, trajectory generation, calibration, and robust numerics.
cmake real-time cpp robotics kinematics calibration se3 motion-control trajectory-planning cpp20 robot-dynamics industrial-robotics
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Sep 9, 2026 - C++
SE(3) geodesic action head for VLA models
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Jul 9, 2026 - Python
Pose-graph SLAM back-end written from scratch: SE(2)/SE(3) Lie group Jacobians, sparse Levenberg-Marquardt with variable reordering, and robust kernels. Evaluated on standard public benchmark datasets.
python robotics numpy levenberg-marquardt slam lie-groups bundle-adjustment nonlinear-optimization g2o se3 factor-graph pose-graph-optimization sparse-linear-algebra
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Sep 5, 2026 - Python
GAUSS-VLA: certified safe VLA via SE(3) flow matching
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Apr 29, 2026
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