Safe Robotics Lab's repositories
iLQR_jax_racing
Autonomous racing using ILQR and JAX.
Dual_Control_HRI
Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023
AprilTagSLAM_ROS
This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.
Who_Plays_First
Repository for "Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots" - RSS 2024
opinion_game
Multi-agent coordination using game theory and nonlinear opinion dynamics - CDC 2023
Deception_Game
Synthesizing safe robot policies in joint physical-belief spaces with deep RL! - CoRL 2023
SimLabReal
Safe Reinforcement Learning with Shielding and Generalization Guarantees
go2_control_wrapper
The Python wrapper for you to deploy your controller/policy to the Go2 robot.
ECE346_Summer
This repo hosts lab materials for the ECE 346 - Intelligent Robotics System - at Princeton University.
Gameplay-Filters
Repo for Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination
gym-pybullet-drones
PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
Maestro-Controller-ROS
A ROS wrapper of Pololu Maestro USB Servo Controller
PrincetonRaceCar_msgs
Custom ROS Messages for Princeton Race Car
PrincetonRaceCar_sync
Multi master ROS implementation for Princeton Race Car
vicon_bridge
This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.
waymax
A JAX-based simulator for autonomous driving research.