thaipduong

SE3HamDL

Code for our RSS'21 paper: "Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control"

sbkm

Code for our paper "Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping".

LieFVIN

Code for paper "Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems"

kernelbasedmap

Code for our ICRA paper "Autonomous Navigation in Unknown Environments with Sparse Kernel-based Occupancy Mapping"

LieGroupHamDL

autonomous-drone

This repository intends to enable autonomous drone delivery with the Intel Aero RTF drone and PX4 autopilot. The code can be executed both on the real drone or simulated on a PC using Gazebo. Its core is a robot operating system (ROS) node, which communicates with the PX4 autopilot through mavros. It uses SVO 2.0 for visual odometry, WhyCon for visual marker localization and Ewok for trajectoy planning with collision avoidance.

awesome-neural-ode

A collection of resources regarding the interplay between differential equations, deep learning, dynamical systems, control and numerical methods.

CM3_VN100_set

deterministic-variational-inference

Sample code for running deterministic variational inference to train Bayesian neural networks

Fast-Drone-250

hardware and software design of the 250mm autonomous drone

Firmware

PX4 Autopilot Software

gym-pybullet-drones

PyBullet Gym environments for single and multi-agent reinforcement learning of quadcopter control

hamadapt

Learning Adaptive Control for SE(3) Hamiltonian Dynamics

maddpg

Code for the MADDPG algorithm from the paper "Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments"

mavros

MAVLink to ROS gateway with proxy for Ground Control Station

mRVM

Multi-class, Multi-kernel Relevance Vector Machine

PX4-SITL_gazebo

Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.

refgovham

Repo and website for the project: Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics

ROS_Multidrone

ROS/PX4 flight controller configured to run in either Gazebo simulation or on Raspberry Pi 3 + Navio 2 hardware.

RotationContinuity

Coder for "On the Continuity of Rotation Representations"

safe-control-gym

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

sitl_gazebo

sitl_gazebo_deprecated

sklearn-bayes

Python package for Bayesian Machine Learning with scikit-learn API

thaipduong.github.io

My personal website

TLIO

Tight Learned Inertial Odometry

torchdiffeq

Differentiable ODE solvers with full GPU support and O(1)-memory backpropagation.

UMich-ROB-530-public

UMich 500-Level Mobile Robotics Course

Variational_Integrator_Networks