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A pytorch implementation of Smooth Model Predictive Path Integral control (SMPPI)
Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.
Official code repository for "Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds"
Implementation of the Online Adaptive CBF for safety-critical navigation for input constrained systems.
Thrid-party safety-gym safe exploration environments for autonomous driving. Also environment used for IROS 2021 paper: Model-based Constrained Reinforcement Learning using Generalized Control Barr…
Learning based opponent prediction in autonomous racing
Official repository for the paper "Vision Transformers for End-to-End Vision-Based Quadrotor Obstacle Avoidance" by Bhattacharya, et al. (2024) from GRASP, Penn.
强化学习中文教程（蘑菇书🍄），在线阅读地址：https://datawhalechina.github.io/easy-rl/
The official codebase of manuscript “ProxFly: Robust Control for Close Proximity Quadcopter Flight via Residual Reinforcement Learning"
Implementation of Kalman Filter from scratch with notes.
My continuously updated Machine Learning, Probabilistic Models and Deep Learning notes and demos (2000+ slides) 我不间断更新的机器学习，概率模型和深度学习的讲义(2000+页)和视频链接
The provided code implements a combination of a Gaussian Process (GP) and an Unscented Kalman Filter (UKF) for multi-step prediction in a time series setting.
This is a list of papers related to traffic agent trajectory prediction.
Radar and Lidar Sensor Fusion using Simple, Extended, and Unscented Kalman Filter for Object Tracking and State Prediction.
3D Pose Estimation of the Planar Robot Using Extended Kalman Filter
Model predictive control based on data-driven model
Automatic Tuning for Data-driven Model Predictive Control
This repository contains the source code for "Stochastic data-driven model predictive control using Gaussian processes" (SDD-GP-MPC).
Flatness based MPC for Multirotor collision avoidance
Safe Exploration with MPC and Gaussian process models
Model Predictive Contouring Control for multi-rotors with ACADO Toolkit