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1. nullspace_mpc nullspace_mpc Public

   Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

   C++ 239 23

2. python_simple_mppi python_simple_mppi Public

   Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

   Jupyter Notebook 632 58

3. mppi_swerve_drive_ros mppi_swerve_drive_ros Public

   [IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

   C++ 196 23

4. jax_generative_models jax_generative_models Public

   Minimal JAX implementation unifying Diffusion and Flow Matching algorithms as alternative strategies for transporting data distributions.

   Python 60 3

5. path_tracking_catalog path_tracking_catalog Public

   25 path-tracking algorithms are (goint to be) implemented with python.

   Jupyter Notebook 181 15

6. control_barrier_function control_barrier_function Public

   control barrier function examples

   Jupyter Notebook 52 2