Discover StanfordASL/PandaRobot.jl 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

LSBMP

The Group Marching Tree Algorithm, presented at IRC 2017

GMT

Mercury

PBDS.jl

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

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