Stanford Autonomous Systems Lab

neural-network-lyapunov

Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.

hj_reachability

Hamilton-Jacobi reachability analysis in JAX.

stlcg

GuSTO.jl

Guaranteed Sequential Trajectory Optimization (GuSTO), using sequential convex programming for trajectory optimization with strong theoretical guarantees

AA203-Examples

Examples shown in class and recitation from AA203: Optimal and Learning-Based Control.

soft-robot-control

Implementation of reduced-order optimal control schemes for finite element models of Soft Robots

AA203-Homework

Starter code accompanying homework assignments from AA203: Optimal and Learning-Based Control.

pmpc

High-level Python Particle Sequential Convex Programming Model Predictive Control (SCP PMPC) interface

Pi-MPC

Code accompanying "Perfecting Periodic Trajectory Tracking: Model Predictive Control with a Periodic Observer."

SSMR-for-control

StanfordASL.github.io

chreach

Convex hulls of reachable sets

stochastic-prog

Sample Average Approximation for Stochastic Programming with Equality Constraints

freeflyer2

graph-rl-for-eamod

Official implementation of "Real-time Control of Electric Autonomous Mobility-on-Demand Systems via Graph Reinforcement Learning"

astrobee

NASA Astrobee Robot Software

robotics_seminar

ASL-X-Plane-11-Platform

nn_robustness_analysis

Python tools for analyzing the robustness properties of neural networks (NNs) from MIT ACL

reachbot_manipulation

Code for "Task-Driven Manipulation with Reconfigurable Parallel Robots"

RL4AMOD

asl-tb3-utils

ASL Turtlebot 3 ROS2 Autonomy Stack Building Block

aa203

asl-tb3-driver

ASL Turtlebot 3 ROS2 Driver

asl-tb3-setup

Instructions for flashing a Jetson TX2 with the Stanford AA274 system image.

asl_flight2

CoRL_OODWorkshop_DANN-DL

osqp

The Operator Splitting QP Solver

osqp-eigen

Simple Eigen-C++ wrapper for OSQP library

PoRA-I