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
barkour_robot
Barkour Robot: Agile Quadruped Robots by Google DeepMind
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
Cheetah-Software
CppAD
A C++ Algorithmic Differentiation Package: Home Page
YuchuanLu's Repositories
YuchuanLu/ADAM
ADAM implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
YuchuanLu/Adaptive-dynamic-programming-algorithms
Adaptive dynamic programming
YuchuanLu/brax
Massively parallel rigidbody physics simulation on accelerator hardware.
YuchuanLu/CppADCodeGen
Source Code Generation for Automatic Differentiation using Operator Overloading
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/ddp-1
Differential Dynamic Programming (DDP) with automatic symbolic differentiation
YuchuanLu/DiffCoSim
By introducing a differentiable contact model, DiffCoSim extends the applicability of Lagrangian/Hamiltonian-inspired neural networks to enable learning of hybrid dynamics.
YuchuanLu/GRiD
A GPU accelerated library for computing rigid body dynamics with analytical gradients
YuchuanLu/IterativeLQR.jl
A Julia package for constrained iterative LQR (iLQR)
YuchuanLu/jax
Composable transformations of Python+NumPy programs: differentiate, vectorize, JIT to GPU/TPU, and more
YuchuanLu/LearningHumanoidWalking
Training a humanoid robot for locomotion using Reinforcement Learning
YuchuanLu/lecture-notebooks
YuchuanLu/legged_control
Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
YuchuanLu/lipm_walking_controller
Walking controller for humanoid robots based on inverted pendulum tracking
YuchuanLu/ModernRobotics
Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.
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/ocs2
Optimal Control for Switched Systems
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/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/robot_manipulator_model
Implementation of recursive Newton Euler algorithm to compute the dynamical model of a robot manipulator
YuchuanLu/robotoc
Efficient optimal control solvers for robotic systems.
YuchuanLu/SE3HamDL
Code for our RSS'21 paper: "Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control"
YuchuanLu/trajax
YuchuanLu/unitree_ros