Pinned Repositories
A2R-Lab.github.io
DiffCompressDRL
Source code and numerical experiments for the paper: "Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning"
GATO
GPU-Accelerated Trajectory Optimization
GBD-PCG
A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver
GRiD
A GPU accelerated library for computing rigid body dynamics with analytical gradients
Just-Round
Supplementary code for "Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion"
MPCGPU
Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"
RBDReference
A Python reference implementation of rigid body dynamics algorithms
TrajoptMPCReference
A Python reference implementation of trajectory optimization (trajopt) algorithms and model predictive control (MPC).
URDFParser
A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.
The Accessible and Accelerated Robotics Lab (A²R Lab)'s Repositories
A2R-Lab/MPCGPU
Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"
A2R-Lab/GATO
GPU-Accelerated Trajectory Optimization
A2R-Lab/GBD-PCG
A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver
A2R-Lab/RBDReference
A Python reference implementation of rigid body dynamics algorithms
A2R-Lab/A2R-Lab.github.io
A2R-Lab/BCHOL
Block factorization team working on improving rsqlr algorithm
A2R-Lab/BCHOL-python
Python proof of concept for BCHOL. Solves for x in Ax = b, using the recursive Schur Linear Quadratic Regulator. It requires A to be a positive semi-definite matrix to guarantee good result.
A2R-Lab/GBD-PCG-Python
A2R-Lab/GLASS
GPU Linear Algebra Simple Subroutines
A2R-Lab/GRiD
A GPU accelerated library for computing rigid body dynamics with analytical gradients
A2R-Lab/Indy7
Real-time control for Neuromeka Indy7
A2R-Lab/Just-Round
Supplementary code for "Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion"
A2R-Lab/SymStair
Numerical experiments for the paper: "Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization"
A2R-Lab/TrajoptMPCReference
A Python reference implementation of trajectory optimization (trajopt) algorithms and model predictive control (MPC).
A2R-Lab/URDFParser
A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.
A2R-Lab/.github
A2R-Lab/BallTracking
This is a simple demo to use the intelligent camera module on Bittle
A2R-Lab/DiffCompressDRL
Source code and numerical experiments for the paper: "Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning"
A2R-Lab/GRiDCodeGenerator
A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.
A2R-Lab/OpenCat
An affordable Boston Dynamics-style quadruped robot dog for STEM education and AI-enhanced services.
A2R-Lab/sgr-utils
A2R-Lab/URDF2Spatial
URDF Parser to Spatial MATLAB Object
A2R-Lab/drqv2_compress
DrQ-v2: Improved Data-Augmented Reinforcement Learning
A2R-Lab/GRiDBenchmarks
Provides the benchmark experiments for the paper "GRiD: GPU Accelerated Rigid Body Dynamics with Analytical Gradients"
A2R-Lab/SGRUtils
Simple GPU Robotics Utility Functions