Intelligent Robot Motion Lab

AdaptSim

Code Release for AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer

byovla

Repo for Bring Your Own Vision-Language-Action (VLA) model, arxiv 2024

dppo

Official implementation of Diffusion Policy Policy Optimization, arxiv 2024

DRAGEN

Distributionally Robust Policy Learning via Adversarial Environment Generation

Invariant-Policy-Optimization

Code for Invariant Policy Optimization

PAC-Bayes-Control

Code for the PAC-Bayes Control paper.

PAC-Imitation

Code for Generalization Guarantees for (Multi-Modal) Imitation Learning

perception-guarantees

Code for combining generalization guarantees for perception and planning.

pybullet-panda

Custom Franka Panda environment in PyBullet

risk_calibrated_interactive_planning

irom-princeton/dppo

Official implementation of Diffusion Policy Policy Optimization, arxiv 2024

irom-princeton/pybullet-panda

Custom Franka Panda environment in PyBullet

irom-princeton/byovla

Repo for Bring Your Own Vision-Language-Action (VLA) model, arxiv 2024

irom-princeton/AdaptSim

Code Release for AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer

irom-princeton/PAC-Bayes-Control

Code for the PAC-Bayes Control paper.

irom-princeton/perception-guarantees

Code for combining generalization guarantees for perception and planning.

irom-princeton/PAC-Imitation

Code for Generalization Guarantees for (Multi-Modal) Imitation Learning

irom-princeton/risk_calibrated_interactive_planning

irom-princeton/br-dp-robust

Bounded-rationality robustness experiments in Jax.

irom-princeton/performance-limits

Code for paper "Fundamental Performance Limits for Sensor-Based Robot Control and Policy Learning".

irom-princeton/llm-backward

irom-princeton/3detr-demo

Demo for 3DETR - an End-to-end transformer model for 3D object detection

irom-princeton/Failure-Prediction

Code for paper titled "Failure Prediction with Statistical Guarantees for Vision-Based Robot Control"

irom-princeton/Task_Relevant_OOD_Detection

Code for paper titled: "Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning."

irom-princeton/ZoeDepth-demo

Metric depth estimation from a single image

irom-princeton/TelloPy

DJI Tello drone controller python package (modified to output better state estimates using VO).

irom-princeton/agile_flight

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight

irom-princeton/ATLA

Leveraging Language for Accelerated Learning of Tool Manipulation

irom-princeton/daqhats

MCC DAQ HAT Library for Raspberry Pi

irom-princeton/gym-pybullet-drones

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

irom-princeton/lcm

Lightweight Communications and Marshalling

irom-princeton/octo

Octo is a transformer-based robot policy trained on a diverse mix of 800k robot trajectories.

irom-princeton/PX4-Autopilot

PX4 Autopilot Software

irom-princeton/px4_msgs

ROS/ROS2 messages that match the uORB messages counterparts on the PX4 Firmware

irom-princeton/px4_ros_com

ROS2/ROS interface with PX4 through a Fast-RTPS bridge

irom-princeton/reconstruction-MCC

Fork of Multiview Compressive Coding for 3D Reconstruction

irom-princeton/simplerecon

Fork of SimpleRecon: 3D Reconstruction Without 3D Convolutions

irom-princeton/SL-PAC-Bayes

irom-princeton/spatial-action-maps-for-heterogeneous-multi_robot-search-and-rescue

Official code repository for "Spatial Action Maps for Heterogeneous Multi-Robot Search and Rescue".

irom-princeton/vicon-feedback