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pytorch-kinematics

Robot kinematics implemented in pytorch

jenn

Jacobian-Enhanced Neural Networks (JENN) are fully connected multi-layer perceptrons, whose training process was modified to account for gradient information. Specifically, the parameters are learned by minimizing the Least Squares Estimator (LSE), modified to minimize prediction error of both response values and partial derivatives.

jaxsim

A differentiable physics engine and multibody dynamics library for control and robot learning.

roboticstoolbox-python

Robotics Toolbox for Python

asdex

Automatic Sparse Differentiation in JAX.

fastdual

Fast forward-mode automatic differentiation via dual numbers (C extension)

pytorch-kinematics-ms

Robot kinematics implemented in pytorch

disptools

Generate displacement fields with known volume changes

nngeometry

{KFAC,EKFAC,Diagonal,Implicit} Fisher Matrices and finite width NTKs in PyTorch

synria-robocore

Unified High-Throughput Robotics Library

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An awesome and fast automatic differentiation calculation tool using Automatic Differentiation (supporting both forward and reverse mode).

autograv

Bridging numerical relativity and automatic differentiation using JAX