Yucheng-Tang's starred repositories
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.
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
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.
mppi-isaac
Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated
industrial_reconstruction
Tools for surface reconstruction from 2D depth images
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.
movement_primitives
Dynamical movement primitives (DMPs), probabilistic movement primitives (ProMPs), and spatially coupled bimanual DMPs for imitation learning.
optimized_dp
Optimizing Dynamic Programming-Based Algorithms
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).
Planning-and-MPC
“Plans are of little importance, but planning is essential.” - Winston Churchill
PathPlanning
Common used path planning algorithms with animations.
PythonLinearNonlinearControl
PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.