Motion planning & control

Research

Single-file implementations of deep reinforcement-learning algorithms.

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Tools and models for developing humanoid whole-body controllers.

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Sampling-based motion-planning algorithms for robotic systems.

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Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds…

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Learned forward dynamics model with robot learning and ROS integration resources.

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Reinforcement-learning framework for humanoid control and sim-to-real research.

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Kinematics and dynamics libraries for robotic mechanisms.

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Differential-drive robot project with ROS 2 packages and assembly resources.

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C++ library for rigid-body dynamics algorithms.

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Environment for developing and testing robot motion-planning algorithms.

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A toolkit for robot optimization and simulation.

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Multibody dynamics simulation software.

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Julia implementations of rigid-body dynamics and kinematics algorithms.

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State-of-the-art method for model-based dexterous manipulation

Research

This project consists of research on a 6 degree of freedom robot. A 3D model of the robot has been made on Unity to demonstrate Forward and Inverse Kinematics. Important concepts in robotics like…

Research

Robotic system modeling, dynamics and optimization tools.

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Domain-randomization experiments for closed-loop soft-robot control.

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EvoBot provides an agent and reusable skill library for LIBERO manipulation tasks.

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Genetic-algorithm joint-control experiments for a quadruped robot.

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MuJoCo framework for studying robot behavior under sensor, actuator and hardware failures.

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A C++ implementation of Fastron based on the paper "Learning-Based Proxy Collision Detection for Robot Motion Planning Applications".

Research

Gaussian Process Motion Planner 2 implementation.

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Research code for simulation-aided policy tuning in black-box robot learning.

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Human-in-the-loop robot-learning and shared-control experiments.