#CMU (4)

IEEE TRO | CMU Open-Sources riMESA: Real-Time Multi-Robot SLAM Under Weak Communication and Outliers, 7x+ Ahead on Real Data

CMU's riMESA combines Consensus ADMM with the incremental robust solver riSAM to unite distribution, incrementality, robustness and weak communication: sharing variables instead of full graphs, dual decay, RWBP that lets stale consensus be overruled by fresh evidence, and non-blocking communication threads. Across 2430 synthetic and 28 real datasets, its gap to Centralized GNC is 7x smaller than DLGBP and 17x smaller than DDF-SAM2, at only ~55 KB/s average bandwidth.

BLOG

collaborative SLAMC-ADMMriSAMIEEE TROCMU

0:46

LUCID: learning manipulation from human videos

@lukas_m_ziegler · 99 views · 2026-08-09

LUCIDUIUCCMU

0:15

CMU HUMRS Underwater Modular Robot Snake

@ctorobotics · 130 views · 2026-07-29

Snake RobotModularUnderwater

LEAP Hand Low-Cost Open-Source Dexterous Hand

LEAP Hand is an open-source four-finger dexterous hand from Carnegie Mellon University (Kenneth Shaw, Ananye Agrawal, Deepak Pathak; RSS 2023): 16 DoF (4 per finger) at a total cost under $2,000, assemblable in under 3 hours using only common hand tools, and roughly 1/8 the cost of the Allegro Hand while achieving superior dexterity thanks to universal abduction-adduction kinematics. The project releases the URDF model, 3D CAD files, a tuned Isaac Gym / Isaac Lab simulation environment and Sim2Real training code, making it a popular low-cost platform for grasp and manipulation research, teleoperation and 3D-printable replication.

COMPONENT

Dexterous HandLEAP HandCMUOpen-source hardwareRSS 2023