hanntonkin

Hann Nguyen's starred repositories

mobile-aloha

Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Language:Jupyter NotebookMIT3699 72 15

brax

Massively parallel rigidbody physics simulation on accelerator hardware.

Language:Jupyter NotebookApache-2.02168 35 334

MotionPlanning

Motion planning algorithms commonly used on autonomous vehicles. (path planning + path tracking)

Language:Python2035 27 4

A comprehensive collection of KAN(Kolmogorov-Arnold Network)-related resources, including libraries, projects, tutorials, papers, and more, for researchers and developers in the Kolmogorov-Arnold Network field.

1891 48 10

diffusion_policy

[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

Language:PythonMIT1176 14 82

PyDMD

Python Dynamic Mode Decomposition

Language:PythonMIT840 33 120

extreme-parkour

ICRA 2024: Train your parkour robot in less than 20 hours.

Language:PythonNOASSERTION494 9 45

python_motion_planning

Motion planning and Navigation of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, Voronoi, PID, DWA, APF, LQR, MPC, RPP, DDPG, Bezier, Dubins etc.

Language:PythonGPL-3.0363 5 7

Dexter

Language:CGPL-3.0362 50 102

quarto-web

Quarto website

Language:JavaScriptNOASSERTION266 110

Simulately

A universal summary of current robotics simulators

Language:TypeScriptApache-2.0246 8 5

differentiable-mpc

Language:PythonMIT225 10 4

ContinuumRobotExamples

An incremental guide to continuum robot mathematical modeling and numerical implementation. The examples are divided into chapters within the folder structure, and each chapter contains a PDF and code examples.

Language:C++MIT143 8 14

motion-planners

Python implementations of several robotic motion planners

Language:PythonMIT141 6 2

piDMD

MATLAB codes for physics-informed dynamic mode decomposition (piDMD)

Language:MATLABMIT120 90

fatrop

Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve a high numerical robustness.

Language:C++LGPL-3.0105 14 9

deep_lagrangian_networks

Open-source implementation of Deep Lagrangian Networks (DeLaN)

Language:PythonMIT72 1 2

beso

[RSS 2023] Official code for "Goal Conditioned Imitation Learning using Score-based Diffusion Policies"

Language:PythonMIT52 3 4

Lyapunov_Stable_NN_Controllers

Lyapunov-stable Neural Control for State and Output Feedback

Language:PythonMIT48 6 2

rlss23-dqn-tutorial

Deep Q-Network (DQN) and Fitted Q-Iteration (FQI) tutorial for RL Summer School 2023

Language:Jupyter NotebookMIT47 30

tdcr-modeling

Language:C++MIT4100

cbfkit

Toolbox for Robotics Control

Language:PythonBSD-3-Clause40 4 2

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.

Language:Cuda38 40