Spacecraft Proximity Operations Testbed

Automatic Tuning for Data-driven Model Predictive Control

A generative world for general-purpose robotics & embodied AI learning.

Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories

Repository for the CoRL 2024 paper: Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision.

Code for "PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation" CVPR 2019 oral

Pose Estimation of Sub-Centimeter Industrial Parts for Automated Assembly @ CoRL 2024 A World Built by Robots Workshop

General hand-eye calibration based on reprojection error minimization and pose graph optimization

[RSS 2024] AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation

Study and implementations of different attitude estimation algorithms for spacecrafts.

Astrodynamics with Python book, software, and videos. Spacecraft trajectory and attitude modeling and simulation

"Sensor Fusion for Multiple Distributed IMUs." This work fuses measurements from multiple simulated and real MEMS IMU sensors for state estimation.

Original reference implementation of "3D Gaussian Splatting for Real-Time Radiance Field Rendering"

A fast trajectory optimization library written in Julia

ROS 2 Navigation Framework and System

NASA Astrobee Robot Software

[IAC 2024] This repository contains the code used in our paper, "Business Innovation in Commercial Space: Culture and Trends in Earth Observation." This paper analyzes trends in time-series company…

A graph based image processing and generation tool.

[IAC 2023, AA 2024] This repository contains the code used in our paper, "AstrobeeCD: Change Detection in Microgravity with Free-Flying Robots." This method is useful for detecting 3D scene changes…

Solve forward and inverse problems related to partial differential equations using finite basis physics-informed neural networks (FBPINNs)

My personal academic website!

Official Code for RVT-2 and RVT

Implementation of the paper "FASTDLO: Fast Deformable Linear Objects Instance Segmentation", Robotics and Automation Letters & IROS 2022

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…