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Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.
Octo is a transformer-based robot policy trained on a diverse mix of 800k robot trajectories.
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…
Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …
Official implementation of Diffusion Policy Policy Optimization, arxiv 2024
WAFR 2024: Multi-modal variational inference in multi-agent interaction enabled by VAE + differentiable Nash game solver.
Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)
Implementation of numerical optimization algorithms
JMLR: OmniSafe is an infrastructural framework for accelerating SafeRL research.
Assetto Corsa OpenAI Gym Environment
An efficient solver for nonlinear constrained feedback Stackelberg games
Repository for "Blending Data-Driven Priors in Dynamic Games" - RSS 2024
Optimal Convex Cover to Approximate Collision-free Space
Repository for "Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots" - RSS 2024
Multi-agent coordination using game theory and nonlinear opinion dynamics - CDC 2023
Autonomous racing using ILQR and JAX.
Synthesizing safe robot policies in joint physical-belief spaces with deep RL! - CoRL 2023
A guidance for the design and evaluation of motion planners for quadrotors in Environments with Varying Complexities
Educational Python library for manipulator motion planning
Introspective Planning: Guiding Language-Enabled Agents to Refine Their Own Uncertainty
A Jax-based library for designing and training transformer models from scratch.
PyTorch version of Stable Baselines, reliable implementations of reinforcement learning algorithms.
RCareWorld simulation environment for caregiving robots
A JAX-based simulator for autonomous driving research.