Yuchuan Lu's repositories
ilqr
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
pymanoid
Humanoid robotics prototyping environment based on OpenRAVE
trajopt
A toolbox for trajectory optimization of dynamical systems
tutorial-se3-manifold
LaTeX sources of the technical report "A tutorial on SE(3) transformation parameterizations and on-manifold optimization"
iLQR-1
iterative Linear Quadratic Regulator with constraints.
self-balancing-lqg
Self-balancing robot analysis and LQG optimal controller design with MATLAB Simulink and Simscape Multibody
Ball-and-Beam-system-Optimal-Control
Design of a Differential dynamic programming (DDP) algorithm for the optimal control of a Ball and Beam system
perceptive_mpc
Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"
Robot-Dynamics-ETH
Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).
Model-Predictive-Control
MPC controllers for temperature regulation of a building. Graded project for the ETH course "Model Predictive Control".
fast-rbd-gradients
Code supporting the RAL paper "Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA"
SLQPGS
Sequential Linear or Quadratic Programming with Gradient Sampling
hamiltonian-nn
Code for our paper "Hamiltonian Neural Networks"
pddp
WIP implementation of Probabilistic Differential Dynamic Programming in PyTorch
ma-thesis
Project management and files related to my master's thesis on 'Highly-Dynamic Movements of a Humanoid Robot Using Whole-Body Trajectory Optimization'
Deep-Learning-with-PyTorch-Chinese
本仓库将PyTorch官方书籍《Deep learning with PyTorch》（基本摘录版）翻译成中文版并给出可运行的相关代码。
locomotion-viewer
An Eigen tool to visualize in Rviz locomotion-related geometric objects
BasicGaitGen
Matlab code for basic gait generator for students
VMLS-Companions
These are companion notebooks written in Julia and Python for: "Introduction to Applied Linear Algebra" by Boyd and Vandenberghe.
DDP_Examples
Using Differential Dynamic Programming (DDP) to control various dynamical systems.
PortHamiltonianNN
Port-Hamiltonian Approach to Neural Network Training
IntroductionToHumanoidRobotics
Matlab code for a Springer book "Introduction to Humanoid Robotics"
Differentiable-Optimization-Based-Modeling-for-Machine-Learning-forked-Dr.Amos-s-PhD-thesis
Differentiable Optimization-Based Modeling for Machine Learning
parallel-DDP
Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on work deploying the algorithm onto robot hardware.
DDP-on-Trajectory-Optimization
This is a Matlab replication of a conference paper 'Trajectory optimization of autonomous driving by differential dynamic programming'.
thormang3_cnoid
Thormang3 simulation on Choreonoid simple simulator