A2R-Lab

MPCGPU

Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"

GBD-PCG

A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver

A2R-Lab.github.io

GBD-PCG-Python

Just-Round

Supplementary code for "Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion"

SymStair

Numerical experiments for the paper: "Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization"

TrajoptMPCReference

A Python reference implementation of trajectory optimization (trajopt) algorithms and model predictive control (MPC).

URDFParser

A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.

.github

BallTracking

This is a simple demo to use the intelligent camera module on Bittle

BCHOL

Block factorization team working on improving rsqlr algorithm

DiffCompressDRL

Source code and numerical experiments for the paper: "Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning"

GLASS

GPU Linear Algebra Simple Subroutines

GRiD

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

GRiDCodeGenerator

A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.

OpenCat

An affordable Boston Dynamics-style quadruped robot dog for STEM education and AI-enhanced services.

RBDReference

A Python reference implementation of rigid body dynamics algorithms

sgr-utils

URDF2Spatial

URDF Parser to Spatial MATLAB Object

drqv2_compress

DrQ-v2: Improved Data-Augmented Reinforcement Learning

GRiDBenchmarks

Provides the benchmark experiments for the paper "GRiD: GPU Accelerated Rigid Body Dynamics with Analytical Gradients"

SGRUtils

Simple GPU Robotics Utility Functions