MizuhoAOKI

python_simple_mppi. Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

nullspace_mpc. Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

mppi_swerve_drive_ros. [IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

path_tracking_catalog. 25 path-tracking algorithms are (going to be) implemented with python.

jax_generative_models. Minimal JAX implementation unifying Diffusion and Flow Matching algorithms as alternative strategies for transporting data distributions.

genesis_docker. Docker environment to quickly try out "Genesis", a universal physics engine.

control_barrier_function. control barrier function examples

pycarsimlib. An easy-to-use carsim wrapper library to call carsim solver from python scripts.

daily_paper. 100+ favorite papers from the fields of robotics, autonomous driving, and related areas, updated continuously.

pympc_panoc_ipopt. MPC pathtracking implementation with python, solved by PANOC/IPOPT

gaussian_process. gaussian process examples

cmake_tutorial. Easy tutorial to understand how to use GCC, Make, and CMake properly.

mcmc. Markov Chain Monte Carlo (MCMC) examples

bayesian_inference. bayesian inference examples

jax_playground. A collection of hands-on examples for exploring numerical algorithms with JAX.

cppcarsimlib. An easy-to-use carsim wrapper library to call carsim solver from c++ programs

trajectory_svg_visualizer. Simple visualization of vehicle trajectory with SVG animation.

path_integral. numerical simulation with path integral

docker_for_carsim_linux. Simple ubuntu18.04 env. for Carsim Linux.

koopman_operator. koopman operator examples

radar_chart. radar chart example

MizuhoAOKI.github.io. MizuhoAOKI's portfolio

neural_network. neural network playground

maniviz. manipulator visualizer

pyMPC. A Model Predictive Control (MPC) Python library based on the OSQP solver.

pyudp_trans. Minimum udp sender/receiver exchanging messages in the json format with python