Emile-Aquila
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A generative world for general-purpose robotics & embodied AI learning.
Modular reinforcement learning library (on PyTorch and JAX) with support for NVIDIA Isaac Gym, Omniverse Isaac Gym and Isaac Lab
🏛️A research-friendly codebase for fast experimentation of single-agent reinforcement learning in JAX • End-to-End JAX RL
Massively parallel rigidbody physics simulation on accelerator hardware.
Composable transformations of Python+NumPy programs: differentiate, vectorize, JIT to GPU/TPU, and more
automatic differentiation made easier for C++
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
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
PyTorch implementation of normalizing flow models
Continuous CBS - a modification of conflict based search algorithm, that allows to perform actions (move, wait) of arbitrary duration. Timeline is not discretized, i.e. is continuous.
[IROS 2024] EPH: Ensembling Prioritized Hybrid Policies for Multi-agent Pathfinding
Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
Non-Gaussian Risk Bounded Trajectory Optimization for StochasticNonlinear Systems in Uncertain Environments
A fast and differentiable model predictive control (MPC) solver for PyTorch.
collection of articles about PhD life written in 🇯🇵
Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, JAXADi enables the creation of efficient code that runs smoot…
Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)
Pytorch re-implementation of the paper "Multi-agent path integral control for interaction-aware motion planning in urban canals" by Lucas Streichenberg, Elia Trevisan, Jen Jen Chung, Roland Siegwar…
Training and testing scripts for the prediction model used in the "Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictions" paper.
Simple MPL-2.0-licensed C++ geometry processing library.
Graph Neural Network Library for PyTorch
Elegant easy-to-use neural networks + scientific computing in JAX. https://docs.kidger.site/equinox/
An API standard for multi-agent reinforcement learning environments, with popular reference environments and related utilities
The easiest way to use deep metric learning in your application. Modular, flexible, and extensible. Written in PyTorch.
Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dy…