Primary-Source Registry / 权威来源¶

This registry anchors the foundations layer to primary papers, official documentation, or author-maintained textbooks. It was reviewed on 2026-08-06. External APIs and software versions can change; the repository lock files and recorded experiment environment remain the source of truth for reproduced runs.

01 Python and numerical computing¶

Python Tutorial — Python Software Foundation.
NumPy user guide — NumPy project.

02 Linear algebra¶

Introduction to Applied Linear Algebra — Stephen Boyd and Lieven Vandenberghe.
NumPy linear algebra reference — NumPy project.

03 Deep learning¶

PyTorch: Learn the Basics — PyTorch project.
Deep Learning — Goodfellow, Bengio, and Courville.

04 Transformers¶

Attention Is All You Need — Vaswani et al.
PyTorch Transformer documentation — PyTorch project.

05 Coordinate transforms¶

Modern Robotics, rigid-body motions — Lynch and Park, Chapters 2–3.

06 SO3 and SE3¶

Modern Robotics, Chapter 3 — rotation matrices, exponential coordinates, and homogeneous transforms.
SciPy Rotation reference — SciPy project.

07 Kinematics, Jacobians, and IK¶

Modern Robotics, Chapters 4–6 — forward kinematics, Jacobians, and numerical IK.

08 Control¶

Underactuated Robotics — Russ Tedrake, MIT.
Modern Robotics, Chapter 11 — robot motion and force control.

09 MuJoCo¶

MuJoCo documentation — MuJoCo project.
MuJoCo Menagerie — model collection and per-model licenses.

10 Datasets and training¶

LeRobot documentation — Hugging Face.
RLDS specification and tools — Google Research.

11 Probability and optimization¶

Convex Optimization — Boyd and Vandenberghe.
SciPy optimization reference — SciPy project.

12 Perception and sensors¶

OpenCV camera calibration and 3D reconstruction — OpenCV project.
ROS REP 103: Standard Units of Measure and Coordinate Conventions — ROS community standard.

13 Robot systems and safety¶

ROS 2 documentation — Open Robotics.
ROS 2 Quality of Service settings — Open Robotics.

These software references do not certify a physical robot. Applicable laws, standards, robot-manufacturer limits, site rules, and a qualified safety review remain mandatory for hardware use.

14 Evaluation and reproducibility¶

ACM Artifact Review and Badging — Association for Computing Machinery.
DoF benchmark source of truth — machine-readable repository evidence.

15 Multimodal perception and state estimation¶

OpenCV Camera Calibration — intrinsics, distortion, extrinsics, and undistortion.
ROS 2 message_filters — timestamp-based exact and approximate synchronization.
robot_localization — EKF/UKF sensor fusion and state-estimation interfaces.

Nav2 Concepts — behavior trees, planners, controllers, smoothers, routes, and recovery servers.
ROS REP 105: Coordinate Frames for Mobile Platforms — map, odom, and base_link frame semantics.
Isaac Lab environments — maintained navigation and legged-locomotion environment registry.

Citation policy¶

Prefer the original paper or official project documentation over secondary summaries.
Record the accessed version/date when an external interface can drift.
Treat a URL check as availability evidence only; it does not prove that every local interpretation is semantically correct.
Open a correction issue when a source and repository statement disagree.