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@A2R-Lab The Accessible and Accelerated Robotics Lab (A²R Lab)

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    32 repositories

    • A2R-Lab.github.io

      Public
      HTML
      •0•1•0•0•Updated Jan 8, 2025Jan 8, 2025

    • TinyMPCReference

      Public
      A reference implementation of TinyMPC in pure Python
      Python
      •0•0•0•0•Updated Jan 7, 2025Jan 7, 2025

    • BCHOL-python

      Public
      Python proof of concept for BCHOL. Solves for x in Ax = b, using the recursive Schur Linear Quadratic Regulator. It requires A to be a positive semi-definite matrix to guarantee good result.
      Python
      •0•1•0•0•Updated Jan 6, 2025Jan 6, 2025

    • tinympc-crazyflie

      Public
      Documents on integrating TinyMPC into the Crazyflie nano-quadrotor
      0•0•0•0•Updated Dec 23, 2024Dec 23, 2024

    • indy7-sdk

      Public
      C++
      •0•0•0•0•Updated Dec 17, 2024Dec 17, 2024

    • GATO

      Public
      GPU-Accelerated Trajectory Optimization
      Cuda
      •
      MIT License
      •0•16•8•0•Updated Dec 14, 2024Dec 14, 2024

    • GBD-PCG

      Public
      A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver
      Cuda
      •1•3•0•1•Updated Dec 12, 2024Dec 12, 2024

    • MPCGPU

      Public
      Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"
      Cuda
      •3•41•1•0•Updated Dec 12, 2024Dec 12, 2024

    • BCHOL

      Public
      Block factorization team working on improving rsqlr algorithm
      Cuda
      •0•2•0•0•Updated Dec 10, 2024Dec 10, 2024

    • TrajoptMPCReference

      Public
      A Python reference implementation of trajectory optimization (trajopt) algorithms and model predictive control (MPC).
      Python
      •
      MIT License
      •5•3•0•0•Updated Dec 10, 2024Dec 10, 2024

    • RBDReference

      Public
      A Python reference implementation of rigid body dynamics algorithms
      Python
      •
      MIT License
      •7•2•0•0•Updated Dec 7, 2024Dec 7, 2024

    • GRiD

      Public
      A GPU accelerated library for computing rigid body dynamics with analytical gradients
      Python
      •
      MIT License
      •17•1•0•3•Updated Dec 7, 2024Dec 7, 2024

    • TinyMPC

      Public
      Model-predictive control for microcontrollers
      C++
      •
      MIT License
      •93•0•0•0•Updated Dec 5, 2024Dec 5, 2024

    • GRiDCodeGenerator

      Public
      A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.
      Python
      •
      MIT License
      •5•0•0•0•Updated Nov 26, 2024Nov 26, 2024

    • URDFParser

      Public
      A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.
      Python
      •
      MIT License
      •6•1•0•0•Updated Nov 26, 2024Nov 26, 2024

    • GLASS

      Public
      GPU Linear Algebra Simple Subroutines
      Cuda
      •1•1•0•0•Updated Nov 21, 2024Nov 21, 2024

    • SGRUtils

      Public
      Simple GPU Robotics Utility Functions
      Cuda
      •0•1•0•0•Updated Nov 21, 2024Nov 21, 2024

    • Indy7

      Public
      Real-time control for Neuromeka Indy7
      Jupyter Notebook
      •0•1•0•0•Updated Oct 11, 2024Oct 11, 2024

    • tinympc-python

      Public
      Python interactive interface for TinyMPC
      Python
      •
      MIT License
      •7•0•0•0•Updated Aug 28, 2024Aug 28, 2024

    • tinympc-matlab

      Public
      MATLAB interactive interface for TinyMPC
      MATLAB
      •7•0•0•0•Updated Jun 4, 2024Jun 4, 2024

    • .github

      Public
      0•0•0•0•Updated May 5, 2024May 5, 2024

    • URDF2Spatial

      Public
      URDF Parser to Spatial MATLAB Object
      Python
      •2•0•0•0•Updated May 2, 2024May 2, 2024

    • tinympc-julia

      Public
      Julia interactive interface for TinyMPC
      Julia
      •3•0•0•0•Updated Apr 5, 2024Apr 5, 2024

    • DiffCompressDRL

      Public
      Source code and numerical experiments for the paper: "Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning"
      Python
      •0•0•0•0•Updated Mar 20, 2024Mar 20, 2024

    • SymStair

      Public
      Numerical experiments for the paper: "Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization"
      Python
      •0•1•0•0•Updated Mar 20, 2024Mar 20, 2024

    • GBD-PCG-Python

      Public
      Python
      •
      MIT License
      •0•1•0•0•Updated Jan 16, 2024Jan 16, 2024

    • drqv2_compress

      Public
      DrQ-v2: Improved Data-Augmented Reinforcement Learning
      Python
      •
      MIT License
      •88•0•0•0•Updated Dec 21, 2023Dec 21, 2023

    • Just-Round

      Public
      Supplementary code for "Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion"
      Python
      •
      MIT License
      •0•1•0•0•Updated Oct 4, 2023Oct 4, 2023

    • GRiDBenchmarks

      Public
      Provides the benchmark experiments for the paper "GRiD: GPU Accelerated Rigid Body Dynamics with Analytical Gradients"
      C++
      •
      MIT License
      •5•0•0•0•Updated Oct 3, 2023Oct 3, 2023

    • sgr-utils

      Public
      CMake
      •
      The Unlicense
      •0•0•0•1•Updated Jun 27, 2023Jun 27, 2023