Pinned Repositories
3D-Diffusion-Policy
[arXiv 2024] 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
3d_diffuser_actor
Code for the paper "3D Diffuser Actor: Policy Diffusion with 3D Scene Representations"
6.8210-Underactuated-Robotics-Notes
act-plus-plus
Imitation Learning algorithms with Co-traing for Mobile ALOHA: ACT, Diffusion Policy, VINN
allsight
Altro.jl
ALVR
Stream VR games from your PC to your headset via Wi-Fi
AprilTag_EKF_Localization
Localizaing a Robot with Wheel Encoder, IMU and AprilTag Detection
apriltag_ros
A ROS2 wrapper of the AprilTag 3 visual fiducial detector
apriltag_ros2
ROS2 node for AprilTag detection
kassasin's Repositories
kassasin/Altro.jl
kassasin/apriltag_ros
A ROS2 wrapper of the AprilTag 3 visual fiducial detector
kassasin/apriltag_ros2
ROS2 node for AprilTag detection
kassasin/awesome-tactile-sensing
Important research papers, blogposts, repos on tactile sensing ( vision-based)
kassasin/Bezier
Fast and lightweight class for Bezier curves of any order in C++
kassasin/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 (
kassasin/CBF-CLF-Helper
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
kassasin/Deep-Reinforcement-Learning-Algorithms-with-PyTorch
PyTorch implementations of deep reinforcement learning algorithms and environments
kassasin/digit-depth
Package for DIGIT tactile sensor
kassasin/dynamic_calibration
Identification of dynamic parameters of robotic systems
kassasin/Fabrics.jl
Julia implementation of Geometric Fabrics
kassasin/Implementation-of-GelSight
An implementation of Gelsight Wedge.
kassasin/kalmanif
A small collection of Kalman Filters on Lie groups
kassasin/LTAMP
Learning for Task and Motion Planning (LTAMP)
kassasin/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.
kassasin/MPC-CBF
"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
kassasin/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)
kassasin/ocs2
Optimal Control for Switched Systems
kassasin/Optimization-based-robot-control
In this repository there are the projects developed during the course of Advance Optimization-based Robot Control. The main topics are Task Space Inverse Dynamics (TSID), Differential Dynamic Programming (DDP) and Deep Q-Network (DQN).
kassasin/PythonLinearNonlinearControl
PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.
kassasin/quadruped_nmpc_dcbf_duality
kassasin/quest2starter
Can be used as a project template for Oculus Quest development in Unity
kassasin/recitations
kassasin/robot_pose_ekf
The robot_pose_ekf ROS package applies sensor fusion on the robot IMU and odometry values to estimate its 3D pose.
kassasin/robotics_transformer
kassasin/sampling_based_control
kassasin/segment-anything
The repository provides code for running inference with the SegmentAnything Model (SAM), links for downloading the trained model checkpoints, and example notebooks that show how to use the model.
kassasin/Stewart_Platform_Motion_Simulator
Stewart Platform 6DOF Motion Simulator
kassasin/TopiCo
Time-optimal Trajectory Generation and Control
kassasin/yakf
Yet Another Kalman Filter Implementation. As well as Lie Theory (Lie group and algebra) on SE(3). [no_std] is supported by default.