Discover StanfordASL/LSBMP Open Source project

643

AA203-Notes

Course notes for AA203

Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.

143

neural-network-lyapunov

Code accompanying "The Trajectron: Probabilistic Multi-Agent Trajectory Modeling with Dynamic Spatiotemporal Graphs" by Boris Ivanovic and Marco Pavone.

139

Trajectron

Hamilton-Jacobi reachability analysis in JAX.

134

hj_reachability

100

LearnedSamplingDistributions

stlcg

Guaranteed Sequential Trajectory Optimization (GuSTO), using sequential convex programming for trajectory optimization with strong theoretical guarantees

GuSTO.jl

Adaptive control-oriented meta-learning for nonlinear systems

Adaptive-Control-Oriented-Meta-Learning

Robust Online Motion Planning using Contraction Theory

RobustMP

Code for "Meta-Learning Priors for Efficient Online Bayesian Regression" by James Harrison, Apoorva Sharma, and Marco Pavone

ALPaCA

Examples shown in class and recitation from AA203: Optimal and Learning-Based Control.

AA203-Examples

TrafficWeavingCVAE

Code accompanying the CoRL 2020 paper "MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control" by Boris Ivanovic, Amine Elhafsi, Guy Rosman, Adrien Gaidon, and Marco Pavone.

MATS

CoCo

moca

asl_turtlebot

vtd_interface

soft-robot-control

Implementation of reduced-order optimal control schemes for finite element models of Soft Robots

KinoFMT

Starter code accompanying homework assignments from AA203: Optimal and Learning-Based Control.

AA203-Homework

Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization

ccscp

Code accompanying "Sketching Curvature for Efficient Out-of-Distribution Detection for Deep Neural Networks"

SCOD

A general code base to formulate and solve unbalanced optimal power flow (OPF) problems written in MATLAB.

unbalanced-opf-toolkit

Compiled lecture notes for AA274

AA274_lecture_notes

Stabilizable Nonlinear Dynamics Learning

SNDL

The Group Marching Tree Algorithm, presented at IRC 2017

GMT

Mercury

PandaRobot.jl

URDF and meshes for the Franka Emika Panda robot

Julia implementation of Pullback Bundle Dynamical Systems (PBDS) framework for geometrically-consistent, multi-task reactive control on manifolds

PBDS.jl

MPC trajectory tracking + reachability-based collision avoidance for pairwise vehicle interactions

Pigeon.jl

Reduced Order Model Predictive Control

rompc

On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions

safe_traffic_weaving

Contains the code for "Generative Modeling of Multimodal Multi-Human Behavior" by Boris Ivanovic, Edward Schmerling, Karen Leung, and Marco Pavone.

NHumanModeling

Risk-averse trajectory optimization

RiskAverseTrajOpt

High-level Python Particle Sequential Convex Programming Model Predictive Control (SCP PMPC) interface

pmpc

Code for “Signal Temporal Logic meets Hamilton-Jacobi Reachability: Connections and Applications” by Mo Chen, Qizhan Tam, Scott C. Livingston, and Marco Pavone.

stlhj

C++

matsim-AMoD

A fork of MATSIM's DVRP module for rebalancing of self-driving vehicles in an Autonomous Mobility on Demand (AMoD) framework

Contains the code for "BaRC: Backward Reachability Curriculum for Robotic Reinforcement Learning" by Boris Ivanovic, James Harrison, Apoorva Sharma, Mo Chen, Marco Pavone.

BaRC

Fixed Wing Aircraft Control

asl_fixedwing

C++

RSIRL

Risk-sensitive Inverse Reinforcement Learning

heterogeneous-task-allocation

Coordination Algorithms for the interaction between Autonomous Mobility-on-Demand systems and the power network.

pamod

Dataset and Simulator for the NASA ULI Project

NASA_ULI_Xplane_Simulator

StanfordASL.github.io

Sequential Convex Programming For Non-Linear Stochastic Optimal Control

stochasticSCP

Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling

SSMR-for-control

Code accompanying "Perfecting Periodic Trajectory Tracking: Model Predictive Control with a Periodic Observer."

Pi-MPC

cloud_robotics

A reference implementation of the time-varying, charge-aware network flow model for AMoD systems.

AMoD-toolkit

Convex hulls of reachable sets

chreach

Principles of Robot Autonomy

Principles-of-Robot-Autonomy

Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems

RandUP_RRT

Sample Average Approximation for Stochastic Programming with Equality Constraints

stochastic-prog

Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance

Janson.Ichter.Pavone.IJRR15

Second-OrderSensitivityAnalysisForBilevelOptimization

Official implementation of "Real-time Control of Electric Autonomous Mobility-on-Demand Systems via Graph Reinforcement Learning"

graph-rl-for-eamod

Robust Adaptive Monte Carlo Planning

RAMCP

ASL-X-Plane-11-Platform-Deprecated

freeflyer2

Code accompanying the AI4Space 2022 paper "Data Lifecycle Management in Evolving Input Distributions for Learning-based Aerospace Applications" by Somrita Banerjee, Apoorva Sharma, Edward Schmerling, Max Spolaor, Michael Nemerouf, and Marco Pavone.

data-lifecycle-management

A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis

RandUP

RL4AMOD

Code accompanying the paper "Online Learning for Traffic Routing under Unknown Preferences"

online-tolls

Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control

jlSCP

Unmanned Aerial System encounter simulation and MDP solution julia code

UASEncounter

Frank-Wolfe for Traffic Assignment

frank-wolfe-traffic

robotics_seminar

rover-meta-learning

fair-routing

PSU-TF

Code for "Propagating State Uncertainty through Trajectory Forecasting"

stlcg_ctrl_syn

Synthesizing a controller that satisfies stl specifications

Repository of code for the Parallel Uncertainty-aware Multiobjective Planning algorithm presented at ICRA '17.

PUMP

Cuda

PerceptionConstrArmPlanning

Code for "Perception-Constrained Robot Manipulator Planning for Satellite Servicing," by Tariq Zahroof, Andrew Bylard, Hesham Shageer, and Marco Pavone.

convex-hull-estimation

Estimating the convex hull of the image of a set with smooth boundary

Model-Mismatch

nnGuSTO

Simplified implementation of GuSTO in Julia, with quadrotor and Astrobee examples.

GuSTO_quad_astrobee

copositive-cutting-plane-max-clique

AA274_HW1

AA274 Homework 1 Code

URDF and meshes for the Astrobee free-flying robot

AstrobeeRobot.jl

ASL-X-Plane-11-Platform

Public-facing section materials for AA 274A

AA274_SECTION

Code for "Task-Driven Manipulation with Reconfigurable Parallel Robots"

reachbot_manipulation

Julia package for collision-related queries using the Bullet Physics engine

BulletCollision.jl

AA274_HW3

AA274 Homework 3 Code

OpenEdge ABL

idwithtasks

Standalone implementation of SCOD

scod-module