YuchuanLu
I am a robotics researcher, and my research interests include dynamics, humanoid loco-manipulation, multi-contact motion planning, and reinforcement learning.
Pinned Repositories
ADAM
ADAM implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
Adaptive-dynamic-programming-algorithms
Adaptive dynamic programming
Ball-and-Beam-system-Optimal-Control
Design of a Differential dynamic programming (DDP) algorithm for the optimal control of a Ball and Beam system
BasicGaitGen
Matlab code for basic gait generator for students
BipedalWalker
BipedalWalker - AI teaching itself to walk
brax
Massively parallel rigidbody physics simulation on accelerator hardware.
Buckshot
A MATLAB Interface for the Bullet Physics Engine
CppADCodeGen
Source Code Generation for Automatic Differentiation using Operator Overloading
crocoddyl
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
cuda-python
CUDA Python Low-level Bindings
YuchuanLu's Repositories
YuchuanLu/ADAM
ADAM implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
YuchuanLu/brax
Massively parallel rigidbody physics simulation on accelerator hardware.
YuchuanLu/crocoddyl
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
YuchuanLu/cuda-python
CUDA Python Low-level Bindings
YuchuanLu/cvxpylayers
Differentiable convex optimization layers
YuchuanLu/equinox
Elegant easy-to-use neural networks + scientific computing in JAX. https://docs.kidger.site/equinox/
YuchuanLu/GRiD
A GPU accelerated library for computing rigid body dynamics with analytical gradients
YuchuanLu/idyntree
Multibody Dynamics Library designed for Free Floating Robots
YuchuanLu/ihmc-open-robotics-software
Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
YuchuanLu/jax
Composable transformations of Python+NumPy programs: differentiate, vectorize, JIT to GPU/TPU, and more
YuchuanLu/jaxsim
A scalable physics engine and multibody dynamics library implemented with JAX. With JIT batteries :battery:
YuchuanLu/lecture-notebooks
YuchuanLu/legged_control
Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
YuchuanLu/lie-group-controllers
Header-only C++ library containing controllers designed for Lie Groups.
YuchuanLu/lipm_walking_controller
Walking controller for humanoid robots based on inverted pendulum tracking
YuchuanLu/loco-mujoco
Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.
YuchuanLu/mujoco
Multi-Joint dynamics with Contact. A general purpose physics simulator.
YuchuanLu/mujoco-simulink-blockset
Blocks for accessing MuJoCo physics engine within Simulink
YuchuanLu/neural-network-lyapunov
Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.
YuchuanLu/numpy
The fundamental package for scientific computing with Python.
YuchuanLu/Pepper-Controller
Python controller for Pepper humanoid robot. It allows to write apps in Python. There are examples of simple applications for Pepper. We develop GUI to operate the robot and run custom apps
YuchuanLu/pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
YuchuanLu/piqp
An Proximal Interior Point Quadratic Programming solver
YuchuanLu/pypose
A library for differentiable robotics.
YuchuanLu/PythonRobotics
Python sample codes for robotics algorithms.
YuchuanLu/rbdl
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to
YuchuanLu/SE3HamDL
Code for our RSS'21 paper: "Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control"
YuchuanLu/Task-Space-Inverse-Dynamics-TSID-
Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio
YuchuanLu/trajax
YuchuanLu/unitree_ros