renjingc's starred repositories
DifferentiableOptimizationCBF
[IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions
GameFormer-Planner
[ICCV & CVPR Workshop] Learning-enabled Interactive Prediction and Planning Framework for Autonomous Vehicles
DecisionPlanning
Contingency Model Predictive Control for Linear Time-Varying Systems; Interaction-Aware Game-Theoretic Motion Planning for Automated Vehicles using Bi-level Optimization
DifferentiableAdaptiveGames.jl
Learning to Play Trajectory Games Against Opponents with Unknown Objectives: A differentiable adaptive game-theoretic planner that jointly infers players' objectives and solves for generalized Nash equilibrium trajectories, enabled by differentiating through a trajectory game solver.
A1-QP-MPC-Controller
An open source implementation of MIT Cheetah 3 controllers
DifferentiableCollisions.jl
Differentiable collision detection for polytopes, capsules, cylinders, cones, spheres, and polygons.
legged_control
Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
NMPC-DCLF-DCBF
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
matplotlib-cpp
Extremely simple yet powerful header-only C++ plotting library built on the popular matplotlib
diff_epo_planner
Differentiable game-theoretic optimization integrated with neural networks for multi-agent prediction and control.
Implicit-SDF-Planner
[IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization
ParkingMotionPlanningTITS21
Bai Li, Tankut Acarman, Youmin Zhang, et al., “Optimization-based trajectory planning for autonomous parking with irregularly placed obstacles: A lightweight iterative framework,” IEEE Transactions on Intelligent Transportation Systems, accepted on Aug. 27, 2021. https://doi.org/10.1109/TITS.2021.3109011