Pinned Repositories
2d_hopper
5link
Simple controller for the 5link robot
Altro.jl
balance-bot
OpenAI Gym environment for training a balancing bot
basic_reinforcement_learning
An introduction series to Reinforcement Learning (RL) with comprehensive step-by-step tutorials.
bigman
bullet3
Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
CasADi.jl
Julia interface to CasADi via PyCall
cubli
Simple robot with 4 link: a cube as base link and three cylinder wheel connected to the cube with continuous rotational joint.
talos_pal_locomotion_slmc
xinsongyan's Repositories
xinsongyan/talos_pal_locomotion_slmc
xinsongyan/Altro.jl
xinsongyan/casadi_kin_dyn
Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.
xinsongyan/ChIMP
Self-balancing robot using hoverboard hub motors
xinsongyan/ddp
Differential Dynamic Programming (DDP) with automatic symbolic differentiation
xinsongyan/ddp-gym
Differential Dynamic Programming controller operating in OpenAI Gym environment.
xinsongyan/fcl
Flexible Collision Library
xinsongyan/furuta_pendulum
LQR, MPC and DRL approaches to control the Furuta pendulum.
xinsongyan/geometry
Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package.
xinsongyan/ilqr
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
xinsongyan/Ipopt.jl
Julia interface to the Ipopt nonlinear solver
xinsongyan/IsaacGymEnvs
Isaac Gym Reinforcement Learning Environments
xinsongyan/LearningHumanoidWalking
Training a humanoid robot for locomotion using Reinforcement Learning
xinsongyan/locomotion_simulation
xinsongyan/mini-cheetah-tmotor-python-can
Python Motor Driver for Mini-Cheetah based Actuators: T-Motor AK80-6/AK80-9 using SocketCAN Interface
xinsongyan/motion_imitation
Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"
xinsongyan/neural-ode-cartpole
xinsongyan/onshape-to-robot-examples
Example of robots that can be exported with onshape-to-robot tool
xinsongyan/Overpowered-Robotic-Chassis
Scripts for controlling AK actuators from T-motor (or similar motors) and a simple modular chassis
xinsongyan/pal_locomotion_actions_slmc
xinsongyan/pal_locomotion_tutorials
xinsongyan/PID
PID controller implementation written in C.
xinsongyan/PlotJuggler
The Time Series Visualization Tool that you deserve.
xinsongyan/pytorch-a2c-ppo-acktr-gail
PyTorch implementation of Advantage Actor Critic (A2C), Proximal Policy Optimization (PPO), Scalable trust-region method for deep reinforcement learning using Kronecker-factored approximation (ACKTR) and Generative Adversarial Imitation Learning (GAIL).
xinsongyan/rapidcsv
C++ CSV parser library
xinsongyan/rkd
Robot Kinematics and Dynamics
xinsongyan/TORA.jl
Trajectory Optimization for Robot Arms
xinsongyan/TrajectoryOptimization.jl
A fast trajectory optimization library written in Julia
xinsongyan/trajopt
A toolbox for trajectory optimization of dynamical systems
xinsongyan/unitree_actuator_sdk