Reinforcement Learning with Model Predictive Control

Extended Social Force Model in Python for social navigation research

Code for simulations of my ACC paper

NCVX: A User-Friendly and Scalable Package for Nonconvex Optimization in Machine Learning

[IROS20] Relational graph learning for crowd navigation

A minimalist environment for decision-making in autonomous driving

[ICRA19] Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning

Lightweight, useful implementation of conformal prediction on real data.

Differentiable collision detection for polytopes, capsules, cylinders, cones, spheres, and polygons.

This repository will contain the code used for the IEEE RA-L + ICRA 2021 publication: "Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrians"

Optimal Reciprocal Collision Avoidance, Python bindings

Code for "Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks", Gupta et al, CVPR 2018

[ITS'21] Human Trajectory Forecasting in Crowds: A Deep Learning Perspective

Using PINN based MPC for motion planning for SDC and LSTM for pedestrain's trajectory prediction as dynamic obstacles

Social LSTM implementation in PyTorch

A selection of state-of-the-art research materials on trajectory prediction

[ICRA 2023] Intention Aware Robot Crowd Navigation with Attention-Based Interaction Graph

Official repository for the paper "Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation"