Se3 Python Packages

se3-transformer-pytorch

Implementation of SE3-Transformers for Equivariant Self-Attention, in Pytorch. This specific repository is geared towards integration with eventual Alphafold2 replication.

splatreg

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.

lie-transformer-pytorch

Implementation of Lie Transformer, Equivariant Self-Attention, in Pytorch

kq-lmpc-quadrotor

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).

pytorchse3

Numerically stable implementation of batched SE(3) exponential and logarithmic maps

quadrotor-koopman-datafree

Analytical Koopman-based data-free lifting and Linear MPC (KQ-LMPC) for quadrotor dynamics on SE(3)