Goal-Conditioned Reinforcement Learning with JAX

Python Implementation of Planning and Control

Endurain is a self-hosted fitness tracking service designed to give users full control over their data and hosting environment

Haptic input knob with software-defined endstops and virtual detents

Implementation of numerical solvers used in the Machines in Motion Laboratory

An OpenAI gym environment for the training of legged robots

A LiDAR odometry pipeline that just works

The book "Performance Analysis and Tuning on Modern CPU"

A beautiful, simple, clean, and responsive Jekyll theme for academics

Probabilistic Contact State Estimation for Legged Robots in ROS

(mostly) automated C++ wrapping for Python

Chebfun: numerical computing with functions.

Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code…

Abseil Common Libraries (C++)

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

Core functions for the Julia (2nd) edition of the text Fundamentals of Numerical Computation, by Driscoll and Braun.

Official implementation of "Neuralangelo: High-Fidelity Neural Surface Reconstruction" (CVPR 2023)

Poppy Humanoid is an open-source and 3D printed humanoid robot. Optimized for research and education purposes, its modularity allows for a wide range of applications and experimentations.

A bindings compiler for C++

ROAD: Learning an Implicit Recursive Octree Auto-Decoder to Efficiently Encode 3D Shapes (CoRL 2022)

Direct solver for sparse SPD matrices for nonlinear optimization. Implements supernodal Cholesky decomposition algorithm, and supports GPU (CUDA).

Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.

A collection of Jupyter/IPython notebooks that implement quadrotor control schemes in an expository manner

Fast symbolic computation, code generation, and nonlinear optimization for robotics

automatic differentiation made easier for C++

ROS compatible tool to generate Allan Deviation plots

Probabilistic Machine Learning: Advanced Topics

Differentiable SDE solvers with GPU support and efficient sensitivity analysis.

ReLU Fields The Little Non-linearity That Could

Humanoid Virtual Athletics Challenge