SangliTeng's Stars
wanxinjin/Pontryagin-Differentiable-Programming
A unified end-to-end learning and control framework that is able to learn a (neural) control objective function, dynamics equation, control policy, or/and optimal trajectory in a control system.
google/osqp-cpp
A C++ interface for the OSQP quadratic programming solver.
ShuoYangRobotics/A1-QP-MPC-Controller
An open source implementation of MIT Cheetah 3 controllers
greydanus/hamiltonian-nn
Code for our paper "Hamiltonian Neural Networks"
erwincoumans/motion_imitation
Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"
UMich-BipedLab/Cassie_Controller_AngularMomentum
UMich-BipedLab/cassie_alip_mpc
This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints(pdf)(arXiv). The controller has two components: (1) an Angular Momentum Linear Inverted Pendulum (ALIP)-based Model Predictive Control (MPC) foot placement planner and (2) a gait controller which takes the foot placement solution as an input. This controller enables improved stability for walking on a variety of sloped and textured terrains. The controller is implemented on the Agility Robotics Cassie Robot.
HybridRobotics/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)
ROAM-Lab-ND/HS-DDP-MATLAB
Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an application to quadruped bounding with Model Hierarchy Predictive Control strategy, and a bouncing ball with elastic impact.
ROAM-Lab-ND/spatial_v2_extended
Extended version of Featherstone's spatial_v2 package
plancherb1/fast-rbd-gradients
Code supporting the RAL paper "Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA"
ganlumomo/mtl-segmentation
Nvidia Semantic Segmentation monorepo
vsitzmann/awesome-implicit-representations
A curated list of resources on implicit neural representations.
thowell/optimization_dynamics
Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928
janbruedigam/ConstrainedDynamics.jl
Rigid body dynamics simulation using maximal coordinates.
janbruedigam/ConstrainedControl.jl
Control for rigid body dynamical systems in maximal coordinates
n-takeishi/learning-kis
Demo implementation of Learning Koopman Invariant Subspaces for Dynamic Mode Decomposition
pczhao/hybridOCP
Hybrid optimal control code using occupation measures
Improbable-AI/rapid-locomotion-rl
Code for Rapid Locomotion via Reinforcement Learning
rtqichen/torchdiffeq
Differentiable ODE solvers with full GPU support and O(1)-memory backpropagation.
caochao39/tare_planner
TARE Exploration Planner for Ground Vehicles
jizhang-cmu/ground_based_autonomy_basic
Autonomous Navigation and Collision Avoidance for Ground Robots
ganlumomo/MultiLayerMapping
Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference
StanfordASL/neural-network-lyapunov
Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.
aerorobotics/neural-fly
Training scripts, training data, and experimental data for Neural Fly
changliuliu/CFS
Various implementations of the convex feasible set algorithm (CFS).
leggedrobotics/legged_gym
Isaac Gym Environments for Legged Robots
UMich-CURLY/Error-State-MPC
ZJU-FAST-Lab/GCOPTER
A General-Purpose Trajectory Optimizer for Multicopters
GuanyaShi/Online-Meta-Adaptive-Control