{"id":30110351,"url":"https://github.com/leggedrobotics/foci","last_synced_at":"2025-08-10T04:44:51.027Z","repository":{"id":302534489,"uuid":"983287594","full_name":"leggedrobotics/foci","owner":"leggedrobotics","description":"Fast, orientation-aware trajectory planning using a novel Gaussian overlap-based collision formulation, modeling both robot and environment as Gaussian Splat.","archived":false,"fork":false,"pushed_at":"2025-07-16T10:46:10.000Z","size":50257,"stargazers_count":10,"open_issues_count":0,"forks_count":0,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-07-17T14:38:44.912Z","etag":null,"topics":["gaussian-splatting","orientation-awareness","trajectory-optimization"],"latest_commit_sha":null,"homepage":"https://rffr.leggedrobotics.com/works/foci/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leggedrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-05-14T06:52:48.000Z","updated_at":"2025-07-02T22:01:54.000Z","dependencies_parsed_at":"2025-07-02T23:29:19.172Z","dependency_job_id":null,"html_url":"https://github.com/leggedrobotics/foci","commit_stats":null,"previous_names":["leggedrobotics/foci"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/leggedrobotics/foci","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Ffoci","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Ffoci/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Ffoci/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Ffoci/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/foci/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Ffoci/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":269677517,"owners_count":24457858,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-10T02:00:08.965Z","response_time":71,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["gaussian-splatting","orientation-awareness","trajectory-optimization"],"created_at":"2025-08-10T04:44:41.967Z","updated_at":"2025-08-10T04:44:50.984Z","avatar_url":"https://github.com/leggedrobotics.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# FOCI: Trajectory Optimization on Gaussian Splats  \n\n\n- **Project page:** [https://rffr.leggedrobotics.com/works/foci/](https://rffr.leggedrobotics.com/works/foci/)\n\n## Authors\n\n- Mario Gomez Andreu\\*¹\n- Maximum Wilder-Smith\\*¹\n- Victor Klemm¹\n- Vaishakh Patil¹\n- Jesus Tordesillas²\n- Marco Hutter¹\n\n\\*Equal contribution  \n¹ Robotic Systems Lab, ETH Zurich  \n² Comillas Pontifical University\n\n## Overview\n\n![Stonehenge paths](./docs/stonerobot.gif)\n\nFOCI is a novel method to compute orientation aware trajectories for robots using 3D Gaussian Splats to model both the robot and the environment. \n\n\n## Installation\n0. Install `git lfs`\n1. Clone the repo with `git clone git@github.com:leggedrobotics/foci.git`\n2. Obtain a licence for the `MA27` solver from [https://licences.stfc.ac.uk/product/coin-hsl](https://licences.stfc.ac.uk/product/coin-hsl), download the corresponding ZIP file, rename the extracted folder to `coinhsl` and move it to the root directory of this repository. \n3. `docker build -t rsl/foci .` to build the provided docker container.\n4. `docker run -it -v .:/workspace --gpus all -p 127.0.0.1:8080:8080 rsl/foci` to run and attach to the container.\n5. `pip install -e .` to install the `foci` in the docker container.\n6. `python3 demos/stonehenge.py` to run the demo script. Open `127.0.0.1:8080` in your webbrowser to a see a visualisation similar to the one in this `README.md`\n\n## Citing\nIf you find this work useful, please consider citing our paper:\n\n```bibtex\n@article{andreuwildersmith2025foci,\n        author        = {Mario Gomez Andreu and Maximum Wilder-Smith and Victor Klemm and Vaishakh Patil and Jesus Tordesillas and Marco Hutter},\n        title         = {FOCI: Trajectory Optimization on Gaussian Splats},\n        year          = {2025},\n        eprint        = {2505.08510},\n        archivePrefix = {arXiv},\n        primaryClass  = {cs.RO},\n        url           = {https://arxiv.org/abs/2505.08510}\n}\n```\n\n\n## Data Attribution\nThe Gaussian splat file (`demo/data/stonehenge.ply`) included in this repository was generated using processed data from the [Splat-Nav project](https://github.com/chengine/splatnav), which is licensed under the MIT License. \nWe acknowledge the authors of Splat-Nav for making their resources available.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Ffoci","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Ffoci","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Ffoci/lists"}