Daniellayeghi

Projects

Some of the Matlab code for the simulations in my portfolio can be found here.

OptimisationBasedControl

Optimal Control via Combined Inference and Numerical Optimization

Motion_Planning

Jerk constrained trajectory planner

DEQ_Examples

Mujoco_Python_Sandbox

Implementations of different RL and Trajectory Optimisation algorithms

autodiff

automatic differentiation made easier for C++

Blog_Post

A dumping ground for the blog posts that I'm planning to make

Daniellayeghi.github.io

https://daniellayeghi.github.io

disentangling-vae

Experiments for understanding disentanglement in VAE latent representations

drake

Model-based design and verification for robotics.

Neural_Lyapunov_and_Optimal_Control

2023 submission

IsaacGymEnvs

Isaac Gym Reinforcement Learning Environments

Mujoco-derivative-bindings

Stable derivative bindings

MujocoParallel

Parallel rollouts for Mujoco

neural_clbf

Toolkit for learning controllers based on robust control Lyapunov barrier functions

Presentations

Probability_Practice

snopt

Second-Order Neural ODE Optimizer, NeurIPS 2021 spotlight

sr3-matlab

SR3: Sparse Relaxed Regularized Regression in MATLAB

stable_dynamics

Companion code to "Learning Stable Deep Dynamics Models" (Manek and Kolter, 2019)

Systems_Programming_Concepts

Practice repo to familarise myself with system programming concepts!

test

torchdiffeq_ctrl

Differentiable ODE solvers with full GPU support and O(1)-memory backpropagation.

torchsde

Differentiable SDE solvers with GPU support and efficient sensitivity analysis.

underactuated

The course text for MIT 6.832 (and 6.832x on edX)