REALM's repositories
ground_control
ROS nodes for controlling the ground robots (F1tenth and Turtlebots)
neural_clbf
Toolkit for learning controllers based on robust control Lyapunov barrier functions
gcbf-pytorch
PyTorch Official Implementation of CoRL 2023 Paper: Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control
radium
Project website for RADIUM project
hybrid-clf
Learn to stabilize hybrid systems via a neural network controller and an RoA planner
gcbf-website
Official website of our CoRL 2023 paper: S Zhang, K Garg, C Fan: "Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control"
neuriss-website
Official website of our L4DC 2023 paper: S Zhang, Y Xiu, G Qu, C Fan: "Compositional Neural Certificates for Networked Dynamical Systems"
stl_mpc
Learning neural controller that satisfies Signal Temporal Logic constraints
franka_ros
A template repository for projects that run on our Franka Research 3
breaking-things
Project website for our CoRL 2023 paper. mit-realm.github.io/breaking-things
architect_corl_23
Code accompanying our 2023 CoRL paper, "A Bayesian approach to breaking things: efficiently predicting and repairing failure modes via sampling"
franka_joint_velocity_controller
A joint-space velocity controller for the FR3
highbay
Code for working with the vicon system in the high bay.
density_planner
Official code for "Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles using Density-based Reachability"