A set of Cartesian controllers for the ROS1 and ROS2-control framework.

[RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.

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

Learn how to train a quadruped robot to walk using reinforcement learning, from defining actions and observations to designing rewards and transitioning from simulation to reality.