Bringing Characters to Life with Computer Brains in Unity

Implementation of popular deep learning networks with TensorRT network definition API

Model-based design and verification for robotics.

Motion imitation with deep reinforcement learning.

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

automatic differentiation made easier for C++

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

Optimal Control for Switched Systems

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.

A General-Purpose Trajectory Optimizer for Multicopters

A GPU-accelerated TSDF and ESDF library for robots equipped with RGB-D cameras.

Pure Pursuit Control and SE(2) Planning

An Architecture for the Versatile Control of Legged Robots

SDK tools for control robots.

A C++/Python implementation of the StreetLearn environment based on images from Street View, as well as a TensorFlow implementation of goal-driven navigation agents solving the task published in “L…

GEM: Online Globally consistent dense elevation mapping for unstructured terrain.

Information Field for Perception-aware Planning

You Only Plan Once: A Learning Based Quadrotor Planner

Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"

Local Navigation Planner for Legged Robots

An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain

Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization (ICRA 2024)

Gazebo simulation models for different LiDAR sensors (Velodyne, Ouster, ...)

Project Code for the paper "Learning Visual Locomotion with Cross-Modal Supervision" (ICRA2023)