Companion code for Closed-Loop Koopman Operator Approximation

Toolbox for Robotics Control

OpenVLA: An open-source vision-language-action model for robotic manipulation.

Deep invertible Koopman operator with control model (DIKU) and adversarial sampling of DIKU (ASKU) for online time-informed set approximation

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

mhar_rebuild

mhar

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

This repository contains our software for the computational design of flexible robots based on concentric tube technology.

Toolbox for Reachability Analysis

M3D: Advancing 3D Medical Image Analysis with Multi-Modal Large Language Models

Code release for RDF (Reachability-based Trajectory Design with Neural Implicit Safety Constraints)

Cartesian motion generation for Franka Emika Panda robots

Safe MPC using Learned Viability

Learning the Viability Boundary of a Robot Manipulator using Optimal Control

Algorithm and model experiments for robot motion planning. Implemented in Julia.

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Autonomous Robust Manipulation via Optimization with Uncertainty-aware Reachability

A Real-Time Reachability-based Motion Planning Algorithm for Risk-Aware Motion Planning in Uncertain Environments.

Contains Reinforcement Learning environments for the da Vinci Surgical System

A collection of hit-and-run Markov Chain Monte Carlo algorithms for sampling constrained spaces.

Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit

OpenAI Gym environment and open source code for concentric tube robots control with deep reinforcement learning.

use casadi and ipopt solve NMPC problem, implement with ROS node