Vince Kurtz

hydrax. Sampling-based model predictive control on GPU with JAX/MJX

drake_ddp. Differential Dynamic Programming and Iterative LQR in Drake

gpc. Generative Predictive Control

stlpy. A python library for control from Signal Temporal Logic (STL) specifications

ltl_gcs. Linear Temporal Logic Motion Planning with Graphs of Convex Sets

nmpc_dynamic_planning. Path planning using nonlinear model predictive control in dynamic environments

quadruped_drake. Using Drake to Simulate and Control Quadrupedal Robots

kinova_drake. Code for controlling a Kinova Gen3 Manipulator via Drake.

drax. Direct Trajectory Optimization in JAX

rnn_collvoid. Dynamic collision avoidance using LSTM to predict time-dependent obstacle behaviors

passivity_cbf_demo. Passivity-based manipulator control with guaranteed constraint satisfaction in Drake

sim_comparison. Tools for quick-and-dirty comparisons of popular robotics simulators

CollisionAvoidance. Multi-Robot Collision Avoidance using Reinforcement Learning

ardupilot_gazebo. ArduPilot Gazebo Support

pySTL. A python library for Signal Temporal Logic

spatial_v2. A copy of Roy Featherstone's rigid-body dynamics software for Matlab

basic-robot-manipulation. A series of Google Colab notebooks for learning about the basics of robot manipulation with a simulated Kinova Gen3 robot arm

valkyrie_drake. Example of controlling a simulated Valkyrie humanoid using Drake

idto. Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control

drake_quadrotor. A simple demo of using Drake to control a simulated quadrotor.

STL_optimization. Comparison of optimization methods for controller synthesis from STL specifications

cube_rotation_ppo. Reproducing the OpenAI cube rotation task with PPO and Brax/MJX

drake_trajopt_examples. Examples of trajectory optimization for simple systems in Drake

mppi_playground. Scratch workspace for exploring Model Predictive Path Integral control

rddp. Reward-Driven Diffusion Policy

drake. Model-based design and verification for robotics.

double_pendulum_demo. A simple example of using the Spatial v2 library to simulate a double pendulum in Matlab

mujoco_mpc. Real-time behaviour synthesis with MuJoCo, using Predictive Control

reinforcement_learning. A playground for exploring RL

robot_noise_models. Bayesian evaluation of different noise models for robot localisation

daily-abstract. Compose and send emails with random recent abstracts from arXiv.org

mjpc_ros2. A basic example of integrating MJPC with a ROS2 pipeline.