Lie-Group variational Integrators being used to get a finite time stable control algorithm and simulated using Matlab and Simulink

Model-predictive control for microcontrollers

A modern GUI client based on Tauri, designed to run in Windows, macOS and Linux for tailored proxy experience

《动手学大模型Dive into LLMs》系列编程实践教程

12 weeks, 26 lessons, 52 quizzes, classic Machine Learning for all

Code release for paper "Autonomous Improvement of Instruction Following Skills via Foundation Models" | CoRL 2024

Code for "Proximal Distilled Evolutionary Reinforcement Learning", accepted at AAAI 2020

SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning

Classical equations and diagrams in machine learning

Driver software for the Franka robots.

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.

An open source repository for control, planning and navigation about control barrier functions.

Multi-Joint dynamics with Contact. A general purpose physics simulator.

Real-time behaviour synthesis with MuJoCo, using Predictive Control

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

The code will soon be open source.

Differentiable collision detection for polytopes, capsules, cylinders, cones, spheres, and polygons.

"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

Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.

Source code of "Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes"

Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.

Safety-Critical-Control-using-Robust-CBFs

Matlab Code base for T-RO 20 paper on robust Control Barrier Functions (CBFs) with Gaussian Process Regression for estimating the disturbance on the dynamical system.

Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"

PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL

Model-based design and verification for robotics.

Robust Online Motion Planning using Contraction Theory