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A symbolically optimized and pythonic Clifford (geometric) algebra library named after none other than William Kingdon Clifford.
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
A visualization of the Hopf fibration.
🧣 A graphical program for exploring the Hopf fibration.
Visualise the Hopf fibration with the python API for Blender
Distributed Robot Interaction Dataset.
Source code for the examples accompanying the paper "Learning convex optimization control policies."
An energy-based formulation for soft-bodied virtual creatures
Computations and statistics on manifolds with geometric structures.
Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Learning arbitrary complex limit cycles to generate cyclic reference trajectories for control tasks
Source code for "Computation of RoAs for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots", RA-L 2022
Python toolbox to detect limit cycles and asses their stability
Hybrid Walking Pattern Generator for bipedal robots, merging the Virtual Constraints and the Preview Control theories
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
A live plotting tool for LCM message fields.
Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations
A Julia package for manifold learning and nonlinear dimensionality reduction
Introduction to Manifold Learning - Mathematical Theory and Applied Python Examples (Multidimensional Scaling, Isomap, Locally Linear Embedding, Spectral Embedding/Laplacian Eigenmaps)
Algorithm and model experiments for robot motion planning. Implemented in Julia.
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
DMOC method for a simple pendulum swing-up control
Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.