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@arpg Autonomous Robotics & Perception Group

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    139 repositories

    • vla-foundations

      Public
      Vision-Language-Action Foundations course repository
      MDX
      •2•2•0•0•Updated May 4, 2026May 4, 2026

    • arpg.github.io

      Public
      The Autonomous Robotics and Perception Group (ARPG) is led by Christoffer Heckman at CU Boulder. We build perception tools and conduct research in field robotic…
      JavaScript
      •
      GNU Lesser General Public License v2.1
      •33•2•0•0•Updated Mar 6, 2026Mar 6, 2026

    • CU-Multi

      Public
      CU-MULTI is a multi-robot dataset that contains two large-scale outdoor sequences collected by a single ground robot on The University of Colorado Boulder campu…
      C++
      •
      GNU General Public License v3.0
      •0•53•1•0•Updated Jan 16, 2026Jan 16, 2026

    • RMap

      Public
      A generative transformer architecture, that performs upsampling, denoising, and fills sparse radar maps
      Python
      •
      Apache License 2.0
      •2•22•2•1•Updated Nov 4, 2025Nov 4, 2025

    • coloradar-library

      Public
      C++
      •1•6•2•0•Updated Oct 16, 2025Oct 16, 2025

    • radar-water-monitoring

      Public
      Jupyter Notebook
      •
      MIT License
      •0•0•0•0•Updated Jul 16, 2025Jul 16, 2025

    • SceneSenseServer

      Public
      Public release of SceneSense server
      Python
      •
      Apache License 2.0
      •0•0•0•0•Updated May 16, 2025May 16, 2025

    • coloradar_plus_processing_tools

      Public
      Files to create cartographer ground truth after optimization
      Jupyter Notebook
      •1•1•0•0•Updated Feb 21, 2025Feb 21, 2025

    • DeepRIO

      Public
      Apache License 2.0
      •0•2•0•0•Updated Feb 5, 2025Feb 5, 2025

    • tbro_ros2

      Public
      Transformer Based Radar Odometry RO2 Node
      Python
      •
      Apache License 2.0
      •2•1•0•1•Updated Nov 19, 2024Nov 19, 2024

    • TBRO

      Public
      Transformer Based Radar Odometry
      Python
      •
      Other
      •0•0•0•1•Updated Nov 14, 2024Nov 14, 2024

    • SceneSense

      Public
      Public release of SceneSense code
      Python
      •
      Apache License 2.0
      •2•16•2•0•Updated Oct 25, 2024Oct 25, 2024

    • gbplanner1_ros

      Public
      Octomap Enabled Graph-based Exploration Planner for Subterranean Environments
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •168•0•0•0•Updated Oct 11, 2024Oct 11, 2024

    • gbplanner_ros

      Public
      Graph-based Exploration Planner for Subterranean Environments
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •168•0•0•0•Updated Sep 25, 2024Sep 25, 2024

    • tree-of-thought-llm

      Public
      [NeurIPS 2023] Tree of Thoughts: Deliberate Problem Solving with Large Language Models
      Python
      •
      MIT License
      •615•0•0•0•Updated Aug 7, 2024Aug 7, 2024

    • CENet-OSM

      Public
      CENet, adapted for OSM-labeled point clouds
      Python
      •
      MIT License
      •16•0•0•0•Updated Jul 8, 2024Jul 8, 2024

    • marble_guidance

      Public
      C++
      •
      Apache License 2.0
      •0•0•0•0•Updated Jun 21, 2024Jun 21, 2024

    • marble_mapping

      Public
      ROS stack for mapping with OctoMap, contains octomap_server package
      C++
      •307•6•0•0•Updated Jun 2, 2024Jun 2, 2024

    • DiffuOSM

      Public
      This repository contains code for data extraction, training, and inference for the DiffuOSM work.
      Python
      •
      MIT License
      •68•0•0•2•Updated May 10, 2024May 10, 2024

    • bobcat

      Public
      Multi-Agent node for DARPA MARBLE project
      Python
      •
      MIT License
      •1•1•0•0•Updated May 8, 2024May 8, 2024

    • kf_bayesopt

      Public
      Kalman Filter tuning using Bayesian Optimization
      C++
      •
      Apache License 2.0
      •7•21•0•1•Updated May 7, 2024May 7, 2024

    • ROSIntegration

      Public
      Unreal Engine Plugin to enable ROS Support
      C++
      •
      MIT License
      •141•1•0•0•Updated Mar 15, 2024Mar 15, 2024

    • pci_general

      Public
      C++
      •
      BSD 2-Clause "Simplified" License
      •7•0•0•0•Updated Mar 7, 2024Mar 7, 2024

    • tree-of-thoughts

      Public
      Plug in and Play Implementation of Tree of Thoughts: Deliberate Problem Solving with Large Language Models that Elevates Model Reasoning by atleast 70%
      Python
      •
      Apache License 2.0
      •375•0•0•0•Updated Feb 22, 2024Feb 22, 2024

    • YOLO-World

      Public
      Real-Time Open-Vocabulary Object Detection
      Python
      •
      GNU General Public License v3.0
      •599•0•0•0•Updated Feb 4, 2024Feb 4, 2024

    • dca1000_device_msgs

      Public
      Open package for ColoRadar Dataset custom ros msgs
      CMake
      •
      Other
      •0•8•5•0•Updated Feb 2, 2024Feb 2, 2024

    • scan_plan

      Public
      C++
      •
      Apache License 2.0
      •0•0•0•0•Updated Jan 24, 2024Jan 24, 2024

    • MetaLidar

      Public
      Unreal Engine 5 based LiDAR simulation plugin
      C++
      •
      Apache License 2.0
      •8•0•0•0•Updated Jan 16, 2024Jan 16, 2024

    • robot_lidar_detection

      Public
      C++
      •1•0•0•0•Updated Jan 14, 2024Jan 14, 2024

    • LIO-SAM

      Public
      LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •1.5k•1•0•0•Updated Jan 14, 2024Jan 14, 2024
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