This repo collects the source code and projects related to Imperative Learning.

Imperative learning (IL) was first formally defined in this long article:

• Chen Wang, Kaiyi Ji, Junyi Geng, Zhongqiang Ren, Taimeng Fu, Fan Yang, Yifan Guo, Haonan He, Xiangyu Chen, Zitong Zhan, Qiwei Du, Shaoshu Su, Bowen Li, Yuheng Qiu, Yi Du, Qihang Li, Yifan Yang, Xiao Lin, Zhipeng Zhao. "Imperative Learning: A Self-supervised Neural-Symbolic Learning Framework for Robot Autonomy," International Journal of Robotics Research (IJRR), 2025.

Its source code is (or will be) available in the following repositories.

• iSLAM: Imperative SLAM.

  Taimeng Fu, Shaoshu Su, Yiren Lu, Chen Wang.

  IEEE Robotics and Automation Letters (RA-L), 2024.

  Code link: https://github.com/sair-lab/iSLAM

• iPlanner: Imperative Path Planning.

  Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter.

  Robotics: Science and Systems (RSS), 2023.

  Code link: https://github.com/sair-lab/iPlanner

• iMTSP: Solving Min-Max Multiple Traveling Salesman Problem with Imperative Learning.

  Yifan Guo, Zhongqiang Ren, Chen Wang.

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

  Code link: https://github.com/sair-lab/iMTSP

• iMatching: Imperative Correspondence Learning.

  Zitong Zhan, Dasong Gao, Yun-Jou Lin, Youjie Xia, Chen Wang.

  European Conference on Computer Vision (ECCV), 2024.

  Code link: https://github.com/sair-lab/iMatching

• iA*: Imperative Learning-based A* Search for Pathfinding.

  Xiangyu Chen, Fan Yang, Chen Wang.

  IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 12, pp. 12987–12994, 2025.

  Code link: https://github.com/sair-lab/iAstar

• iWalker: Imperative Visual Planning for Walking Humanoid Robot.

  Xiao Lin, Yuhao Huang, Taimeng Fu, Xiaobin Xiong, Chen Wang.

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2865–2872, 2025.

• iKap: Kinematics-aware Planning with Imperative Learning.

  Qihang Li, Zhuoqun Chen, Haoze Zheng, Haonan He, Shaoshu Su, Junyi Geng, Chen Wang.

  IEEE International Conference on Robotics and Automation (ICRA), pp. 10164–10170, 2025.

• Resilient Odometry via Hierarchical Adaptation.

  Shibo Zhao, Sifan Zhou, Yuchen Zhang, Ji Zhang, Chen Wang, Wenshan Wang, Sebastian Scherer.

  Science Robotics, vol. 10, no. 109, 2025.

  Code link: https://github.com/superxslam/SuperOdom

  • Top featured article in Science Robotics;
  • Imperative learning enables all-weather resiliency;
  • Exhibiting only 0.000067 (0.2m / 3km) drift without loop closure

• AnyNav: Visual Neuro-symbolic Friction Learning for Off-road Navigation.

  Taimeng Fu, Zitong Zhan, Zhipeng Zhao, Shaoshu Su, Xiao Lin, Ehsan Tarkesh Esfahani, Karthik Dantu, Souma Chowdhury, Chen Wang.

  arXiv preprint arXiv:2501.12654, 2025.

  • A self-supervised friction estimation framework

• Bundle Adjustment in the Eager Mode.

  Zitong Zhan, Huan Xu, Zihang Fang, Xinpeng Wei, Yaoyu Hu, Chen Wang.

  arXiv preprint arXiv:2409.12190, 2025.

  Code link: https://github.com/pypose/bae

  • A GPU implementation achieving 20x speedup

• Joint Sparse Optical Flow Estimation and Keypoint Detection via Dual-task Imperative Learning.

  Qiang Liu, Baojia Chen, Zhiqiang Hao, Xinlong Li, Leilei Xiang, Juan Liu.

  IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), vol. 48, no. 3, pp. 2659–2675, 2026.

• A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning.

  Yufei Jiang, Yuanzhu Zhan, Harsh Vardhan Gupta, Chinmay Borde, Junyi Geng.

  IEEE International Conference on Robotics and Automation (ICRA), 2026.

• Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control.

  Haonan He, Yuheng Qiu, Junyi Geng.

  Annual Learning for Dynamics & Control Conference (L4DC), vol. 283, pp. 1140–1153, 2025.