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Examples shown in class and recitation from AA203: Optimal and Learning-Based Control.
[IEEE RA-L'25] NavRL: Learning Safe Flight in Dynamic Environments (NVIDIA Isaac/Python/ROS1/ROS2)
This is a workspace where you can easily and using its wizard, make your own mobile robot URDF file in minutes. Let's try it!
Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.
Real-time behaviour synthesis with MuJoCo, using Predictive Control
A comprehensive list of papers using large language/multi-modal models for Robotics/RL, including papers, codes, and related websites
This repository includes models of varying complexity designed to illustrate the principles of longitudinal dynamics
This approach is used to solve path optimization for off-road terrain by providing a Koopman operator based convex formulation
Koopman based MPC of dual track vehicle model. The code was used to create the paper "Predictive approach to torque vectoring based on the Koopman operator"
ROS 2 Navigation Framework and System
pySLAM is a visual SLAM pipeline in Python for monocular, stereo and RGBD cameras. It supports many modern local and global features, different loop-closing methods, a volumetric reconstruction pip…
This repository contains a full wrapper class for running ORB-SLAM3 on a docker container with ROS2 Humble with Ubuntu 22.04.
Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …
ROSA 🤖 is an AI Agent designed to interact with ROS1- and ROS2-based robotics systems using natural language queries. ROSA helps robot developers inspect, diagnose, understand, and operate robots.
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
A C++ header-only Eigen-based Library for equivariant Inertial Measurement Unit (IMU) preintegration
A multi-agent quadruped environment, supporting learning of locomotion control or merely high-level planning.
All the handwritten notes 📝 and source code files 🖥️ used in my YouTube Videos on Machine Learning & Simulation (https://www.youtube.com/channel/UCh0P7KwJhuQ4vrzc3IRuw4Q)
Motor simulation plugins for Gazebo - ROS
Code examples for Robotics, Vision & Control 3rd edition in Python
Python sample codes and documents about Autonomous vehicle control algorithm. This project can be used as a technical guide book to study the algorithms and the software architectures for beginners.
Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.
This repository contains CartPole simulator with its GUI, implemented controller (LQR) and generator of random desired position trace. It also contains files to train and test RNN predicting future…