Python sample codes and textbook for robotics algorithms.

Isaac Gym Reinforcement Learning Environments

Isaac Gym Environments for Legged Robots

Fast and simple implementation of RL algorithms, designed to run fully on GPU.

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

CUDA Accelerated Robot Library

Modular reinforcement learning library (on PyTorch and JAX) with support for NVIDIA Isaac Gym, Omniverse Isaac Gym and Isaac Lab

🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

Aerial Gym Simulator - Isaac Gym Simulator for Aerial Robots

Code for "Temporal Difference Learning for Model Predictive Control"

Implementation of the paper "Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learning"

Example repository for autonomous behaviors using TurtleBot robots and behavior trees, as well as Docker workflows in ROS based projects.

Implementation of reinforcement learning approach to make a car learn to drive smoothly in minutes

End to end motion planner using Deep Deterministic Policy Gradient (DDPG) in gazebo

Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated

Using RGB Image as Visual Input for Mapless Robot Navigation

Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit

[T-RO 2023] DRL-VO: Learning to Navigate Through Crowded Dynamic Scenes Using Velocity Obstacles

[ICRA 2023] Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graph

Person detector for 2D range data. Code release for Self-Supervised Person Detection in 2D Range Data using a Calibrated Camera (https://arxiv.org/abs/2012.08890)

FurnitureBench: Real-World Furniture Assembly Benchmark (RSS 2023)

Extended Social Force Model in Python for social navigation research

ROS package for autonomous navigation of AGVs in unknown cluttered environments using MPPI and log-MPPI

DSAC; Distributional Soft Actor-Critic

Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation

Implementation of Q-learning algorithm and Feedback control for the mobile robot (turtlebot3_burger) in ROS.

Gaussian Process-based Traversability Analysis for Terrain Mapless Navigation (ICRA 2024)