My personal portfolio of robot learning algorithms, from course materials in 517 and 650 at UPenn.
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This repository is continuously updated with new algorithms and implementations as I learn them.
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Last updated: 2024-Apr-6
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Optimal Control and Trajectory Optimization: LQR, MPC, Energy Shaping, iLQR, Collocation, Min-snap
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State Estimation: Kalman Filter, EKF, UKF, Particle Filter
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Perception: 2D SLAM with PF, NeRF (to be updated)
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Planning: Dynamic Programming, etc (to be updated)
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Robot Learning: HMM, DQN (to be updated)
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Using EKF to estimate a system parameter
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Value Iteration
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Policy Iteration
650 course materials are from Prof. Pratik Chaudhari, 517 course materials are from Prof. Michael Posa.
During my implementation, I also learned a lot from Anirudh Kailaje (https://github.com/KailajeAnirudh). Please also star his wonderful repositories if you find mine helpful.