release repository

README.md

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+-->
+# CuRobo
+
+*CUDA Accelerated Robot Library*
+
+**Check [curobo.org](https://curobo.org) for installing and getting started with examples!**
+
+Use [Discussions](https://github.com/NVlabs/curobo/discussions) for questions on using this package.
+
+Use [Issues](https://github.com/NVlabs/curobo/issues) if you find a bug.
+
+
+For business inquiries, please visit our website and submit the form: [NVIDIA Research Licensing](https://www.nvidia.com/en-us/research/inquiries/)
+
+## Overview
+
+CuRobo is a CUDA accelerated library containing a suite of robotics algorithms that run significantly faster than existing implementations leveraging parallel compute. CuRobo currently provides the following algorithms: (1) forward and inverse kinematics,
+(2) collision checking between robot and world, with the world represented as Cuboids, Meshes, and Depth images, (3) numerical optimization with gradient descent, L-BFGS, and MPPI, (4) geometric planning, (5) trajectory optimization, (6) motion generation that combines inverse kinematics, geometric planning, and trajectory optimization to generate global motions within 30ms.
+
+<p align="center">
+<img width="500" src="images/robot_demo.gif">
+</p>
+
+
+CuRobo performs trajectory optimization across many seeds in parallel to find a solution. CuRobo's trajectory optimization penalizes jerk and accelerations, encouraging smoother and shorter trajectories. Below we compare CuRobo's motion generation on the left to a BiRRT planner on a pick and place task.
+
+<p align="center">
+<img width="500" src="images/rrt_compare.gif">
+</p>
+
+## Citation
+
+If you found this work useful, please cite the below report,
+
+```
+@article{curobo_report23,
+         title={CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation},
+         author={Sundaralingam, Balakumar and Hari, Siva Kumar Sastry and 
+         Fishman, Adam and Garrett, Caelan and Van Wyk, Karl and Blukis, Valts and 
+         Millane, Alexander and Oleynikova, Helen and Handa, Ankur and 
+         Ramos, Fabio and Ratliff, Nathan and Fox, Dieter},
+         journal={arXiv preprint},
+         year={2023}
+}
+```