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Code release for ICLR 2023 paper "NTFields: Neural Time Fields for Physics-Informed Robot Motion Planning"

Gradient-Based Online Safe Trajectory Generator

Builds 2D signed distance fields from images, 3D signed distance fields from pointclouds, 3D signed distance fields from Octomap, provides a lightweight signed distance field library, message types…

A collection of explicit runge-kutta integrators, written in C++

Model Predictive Control for Franka Panda Arm

Including original ALTRO-iLQR library and my codes to add truck dynamic model and build some L4 test scenarios

A parallelized, modern, extendable, single-header, C++11 implementation of the iLQR algorithm.

Algorithms and Publications on 3D Object Tracking

Code for implementing and experimenting with cooperative manipulation controllers. Includes a controller based on a novel extended relative Jacobian formulation.

Input shaping example in MATLAB/Simulink

My master's thesis code work: "Sliding mode control of a quadrotor with a suspended load for trajectories based on the differential flatness property of the system and input shaping "

Precise and fast position control is needed in many areas of industries but generally that demands high rigid from system. This rigidity comes at a cost of payload capacity. In this project, Input …

Perception-Aware Trajectory Planner in Dynamic Environments

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

ROS2 version of OCS2, refactor with modern-cmake

Model-predictive control based on augmented Lagrangian

Differentiable Collision Avoidance

differentiable proxy collision checking for robot trajectory optimization.

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

A small collection of Kalman Filters on Lie groups

Basic Kalman filter implementation in C++ using Eigen

Object (e.g Pedestrian, vehicles) tracking by Extended Kalman Filter (EKF), with fused data from both lidar and radar sensors.

Header-only C++11 Kalman Filtering Library (EKF, UKF) based on Eigen3

Example implementation for robust model predictive control using tube

Optimal trajectory generation library given equality and inequality constraints (C++/Matlab)

Non-linear optimization centroidal dynamics with superellipsoid constraint

In this research, we aim for robust locomotion control of an underactuated bipedal exoskeleton with arbitrary human users. To ensure robust and dynamic walking behavior despite parameter uncertaint…