Yucheng-Tang

pytorch3d

PyTorch3D is FAIR's library of reusable components for deep learning with 3D data

pytorch_kinematics

Robot kinematics implemented in pytorch

pytorch_mppi

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

python_simple_mppi

Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

l4casadi

Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

ml-casadi

Use PyTorch Models with CasADi and Acados

proj-svg_mppi

[ICRA2024] Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

ros-humble-ros1-bridge-builder

Create a ros-humble-ros1-bridge package that can be used directly in ROS2 Humble

Eureka

Official Repository for "Eureka: Human-Level Reward Design via Coding Large Language Models" (ICLR 2024)

shixi_dual_ur

实习：双ur机械臂控制

asymmetric_manipulation

Code for implementing and experimenting with cooperative manipulation controllers. Includes a controller based on a novel extended relative Jacobian formulation.

curobo

CUDA Accelerated Robot Library

mppi-isaac

Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated

industrial_reconstruction

Tools for surface reconstruction from 2D depth images

skiros2

A skill-based platform for ROS v.2

Cartesian-Impedance-Controller

A C++ implementation of Cartesian impedance control for torque-controlled manipulators with ROS bindings.

bimanual-dynamical-system

Virtual Object Dynamical System for Dual-Arm Coordination, controller and execution class.

MA-SCVP

movement_primitives

Dynamical movement primitives (DMPs), probabilistic movement primitives (ProMPs), and spatially coupled bimanual DMPs for imitation learning.

refineCBF

optimized_dp

Optimizing Dynamic Programming-Based Algorithms

easy-rl

强化学习中文教程（蘑菇书🍄），在线阅读地址：https://datawhalechina.github.io/easy-rl/

Multi-Purpose-MPC

Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance

DRL-robot-navigation

Deep Reinforcement Learning for mobile robot navigation in ROS Gazebo simulator. Using Twin Delayed Deep Deterministic Policy Gradient (TD3) neural network, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles.

common_interfaces

A set of packages which contain common interface files (.msg and .srv).

examples

Example packages for ROS 2

Planning-and-MPC

“Plans are of little importance, but planning is essential.” - Winston Churchill

my_aruco

PathPlanning

Common used path planning algorithms with animations.

PythonLinearNonlinearControl

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.