Development Repository for Wall-E

Differentiable trajectory optimization in Julia.

We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enables real-time, contact-rich locomotion and manipulation using …

⚙️ minimal paralllelizable physics simulator supporting differentiation entirely in torch

From the fundamentals of diffusion to flow matching in pi0

Optax is a gradient processing and optimization library for JAX.

Mathematical Programming in JAX

Plotting tools for reading and showing Pixhawk uLog logs in Matlab

Data Driven Dynamics Modeling for Aerial Vehicles

Simulation code for the paper "Chance-constrained Linear Quadratic Gaussian Games for Multi-robot Interaction under Uncertainty"

generating parameterised fingers and hands with open scad

A collection of formalized statements of conjectures in Lean.

Data Structures in C, trying to emulate the C++ STL using only the C language.

Model-predictive control for microcontrollers

Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

Porting lusture for Latest kernel

Building a ROS controlled omnidirectional robot with four mechanum wheels

ROS model of 3 wheeled Omni-directional mobile robot

A ROS wrapper for ORB-SLAM3. Focus on portability and flexibility.

MPC implementation using acados integrated with with PX4 on ROS2

MuJoCo fruit fly body model and locomotion RL tasks

Fixed CH340 USB-to-UART driver for Ubuntu 22.04

NVIDIA Isaac GR00T N1.5 - A Foundation Model for Generalist Robots.

Serial utility for flashing, provisioning, and interacting with Espressif SoCs

Python inverse kinematics based on MuJoCo

Computing reachable states of dynamical systems in Julia

The Julia Programming Language