thowell/achtung

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Created about 4 years ago
Updated about 4 years ago

thowell/achtung

thowell

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motion_planning

Algorithm and model experiments for robot motion planning. Implemented in Julia.

CALIPSO.jl

Conic Augmented Lagrangian Interior-Point SOlver

optimization_dynamics

Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928

IterativeLQR.jl

A Julia package for constrained iterative LQR (iLQR)

RoboDojo.jl

A differentiable simulator for robotic systems.

DirectTrajectoryOptimization.jl

A Julia package for constrained trajectory optimization using direct methods.

ContactImplicitMPC.jl

Fast contact-implicit model-predictive control for robotic systems that make and break contact with their environments.

thesis

Stanford PhD Thesis

ppo.cpp

Proximal Policy Optimization (PPO) written in C++ with PyTorch (LibTorch)

rs

A simple JAX-based implementation of random search for locomotion tasks using MuJoCo XLA (MJX).

rs.cpp

A multi-threaded C++ implementation of random search for locomotion tasks using MuJoCo.

non-convex_solver

symbolics_double_pendulum

a short tutorial on using the Julia package Symbolics.jl to generate equations of motion from a Lagrangian

Jupyter Notebook

simple_trajectory_optimization

Examples showing how to set up trajectory optimization problems.

DIRTREL.jl

A tool for robust motion planning. Implemented in Julia.

cv

Curriculum Vitae

helmholtzcoils

Control Helmholtz coils to generate stationary and rotating uniform magnetic fields in any direction

Jupyter Notebook