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Pixar Universal Scene Description libraries in a Docker container for easy experimentation
A real-time multifunctional Lidar SLAM package.
Open-source C++ implementation of the recently proposed online active set strategy
RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.
A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).
MIT mini cheetah quadruped robot simulated in pybullet environment using ros.
Trajectory tracking controller using linear and nonlinear MPC.
mpc and wbc for mini cheetah in pybullet
NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls
A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots
Reinforcement Learning with Model Predictive Control
Combining Reinforcement Learning with Model Predictive Control for On-Ramp Merging
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
Deep RL for MPC control of Quadruped Robot Locomotion
Modular reinforcement learning library (on PyTorch and JAX) with support for NVIDIA Isaac Gym, Omniverse Isaac Gym and Isaac Lab
Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting
Real-time 3D localization using a (velodyne) 3D LIDAR
Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels
Visual Navigation in Real-World Indoor Environments Using End-to-End Deep Reinforcement Learning Official Implementation
It simulates Rosbot movement on Gazebo and trains a rainforcement learning model DQN.
End to end motion planner using Deep Deterministic Policy Gradient (DDPG) in gazebo
PDAL is Point Data Abstraction Library. GDAL for point cloud data.
C++ application to convert pcd file, ply file, txt file or xyz point cloud to MESH representation (Gp3).