A versatile and efficient framework for constrained trajectory optimization

Collection of Fall 2023 tech internships!

Generating and Imputing Tabular Data via Diffusion and Flow XGBoost Models

code for "Riemannian Flow Matching on General Geometries".

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

Clean PyTorch implementations of imitation and reward learning algorithms

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse m…

Implement Differentiable Kinematics Tree & Planning Objectives in PyTorch given URDF robot models.

Implementation of Stochastic Gaussian Process Motion Planning algorithm, IROS 2022.

Belief matching framework official implementation

TorchCFM: a Conditional Flow Matching library

PyTorch implementation for Score-Based Generative Modeling through Stochastic Differential Equations (ICLR 2021, Oral)

Official code for Score-Based Generative Modeling through Stochastic Differential Equations (ICLR 2021, Oral)

Interactive Markov-chain Monte Carlo Javascript demos

Normalizing flows in PyTorch

Flexible and powerful tensor operations for readable and reliable code (for pytorch, jax, TF and others)

PyTorch implementation of normalizing flow models

C++-based high-performance parallel environment execution engine (vectorized env) for general RL environments.

Preconditioned Conjugate Gradient in Pytorch

Adaptive importance sampling modification to MPPI

A Tutorial on Manipulator Differential Kinematics

A GPU accelerated library for computing rigid body dynamics with analytical gradients

Stein Variational Gradient Descent with Matrix-Valued Kernels