a2r-lab Goto Github PK

.github

a2r-lab.github.io

balltracking

This is a simple demo to use the intelligent camera module on Bittle

bchol

Block factorization team working on improving rsqlr algorithm

diffcompressdrl

Source code and numerical experiments for the paper: "Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning"

drqv2_compress

DrQ-v2: Improved Data-Augmented Reinforcement Learning

gato

GPU-Accelerated Trajectory Optimization

gbd-pcg

A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver

gbd-pcg-python

glass

GPU Linear Algebra Simple Subroutines

grid

A GPU accelerated library for computing rigid body dynamics with analytical gradients

gridbenchmarks

Provides the benchmark experiments for the paper "GRiD: GPU Accelerated Rigid Body Dynamics with Analytical Gradients"

gridcodegenerator

A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.

indy7

Real-time control for Neuromeka Indy7

just-round

Supplementary code for "Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion"

mpcgpu

Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"

opencat

An affordable Boston Dynamics-style quadruped robot dog for STEM education and AI-enhanced services.

rbdreference

A Python reference implementation of rigid body dynamics algorithms

sgr-utils

sgrutils

Simple GPU Robotics Utility Functions

symstair

Numerical experiments for the paper: "Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization"

trajoptmpcreference

A Python reference implementation of trajectory optimization (trajopt) algorithms and model predictive control (MPC).

urdf2spatial

URDF Parser to Spatial MATLAB Object

urdfparser

A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.