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    152 repositories

    • aa203

      Public
      HTML
      •0•0•0•0•Updated Apr 23, 2025Apr 23, 2025

    • trunk-stack

      Public
      The ASL Trunk software stack, including documentation.
      Jupyter Notebook
      •
      MIT License
      •0•3•0•0•Updated Apr 23, 2025Apr 23, 2025

    • neural-network-lyapunov

      Public
      Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.
      roboticsverificationlyapunov-functionsneural-network
      Python
      •
      MIT License
      •32•155•3•3•Updated Apr 23, 2025Apr 23, 2025

    • AA203-Homework

      Public
      Starter code accompanying homework assignments from AA203: Optimal and Learning-Based Control.
      Jupyter Notebook
      •40•24•0•0•Updated Apr 21, 2025Apr 21, 2025

    • robotics_seminar

      Public
      HTML
      •3•4•0•0•Updated Apr 18, 2025Apr 18, 2025

    • AA203-Examples

      Public
      Examples shown in class and recitation from AA203: Optimal and Learning-Based Control.
      Jupyter Notebook
      •24•52•1•0•Updated Apr 15, 2025Apr 15, 2025

    • Opt-SSM

      Public
      Learning Optimal Projections onto Spectral Submanifolds
      Jupyter Notebook
      •
      MIT License
      •0•0•0•0•Updated Apr 10, 2025Apr 10, 2025

    • oscbf

      Public
      Safe, high-performance, and task-consistent manipulator control
      Python
      •
      MIT License
      •1•33•0•0•Updated Mar 31, 2025Mar 31, 2025

    • trunk-sim

      Public
      The ASL Trunk simulator.
      Python
      •
      MIT License
      •0•1•0•1•Updated Mar 29, 2025Mar 29, 2025

    • StanfordASL.github.io

      Public
      TeX
      •4•10•0•1•Updated Mar 27, 2025Mar 27, 2025

    • reachbot_manipulation

      Public
      Code for "Task-Driven Manipulation with Reconfigurable Parallel Robots"
      Python
      •0•2•0•0•Updated Mar 23, 2025Mar 23, 2025

    • RL4AMOD

      Public
      Python
      •
      MIT License
      •2•9•1•0•Updated Mar 8, 2025Mar 8, 2025

    • freeflyer2

      Public
      Python
      •
      MIT License
      •2•6•0•3•Updated Feb 11, 2025Feb 11, 2025

    • astrobee

      Public
      NASA Astrobee Robot Software
      C++
      •
      Apache License 2.0
      •331•5•0•1•Updated Feb 4, 2025Feb 4, 2025

    • asl-tb3-aiet

      Public
      Python
      •0•0•0•0•Updated Jan 17, 2025Jan 17, 2025

    • data-lifecycle-management

      Public
      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.
      benchmarkaerospaceout-of-distribution-detectionlearning-baseddistribution-shiftdata-lifecycle-managementsatellite-pose-estimation
      Jupyter Notebook
      •
      MIT License
      •1•5•0•0•Updated Dec 6, 2024Dec 6, 2024

    • PoRA-I

      Public
      Jupyter Notebook
      •0•0•0•0•Updated Dec 5, 2024Dec 5, 2024

    • hj_reachability

      Public
      Hamilton-Jacobi reachability analysis in JAX.
      Python
      •
      MIT License
      •22•127•3•0•Updated Nov 8, 2024Nov 8, 2024

    • trunk-teleop

      Public
      Code for teleoperation of ASL Trunk robot with Apple Vision Pro.
      Swift
      •0•1•0•0•Updated Nov 1, 2024Nov 1, 2024

    • soft-robot-control

      Public
      Implementation of reduced-order optimal control schemes for finite element models of Soft Robots
      Python
      •
      MIT License
      •5•30•0•0•Updated Oct 3, 2024Oct 3, 2024

    • osqp-eigen

      Public
      Simple Eigen-C++ wrapper for OSQP library
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •126•0•0•0•Updated Aug 15, 2024Aug 15, 2024

    • osqp

      Public
      The Operator Splitting QP Solver
      C
      •
      Apache License 2.0
      •374•0•0•0•Updated Aug 14, 2024Aug 14, 2024

    • stochastic-prog

      Public
      Sample Average Approximation for Stochastic Programming with Equality Constraints
      Python
      •
      MIT License
      •1•8•0•0•Updated Jul 14, 2024Jul 14, 2024

    • graph-rl-for-eamod

      Public
      Official implementation of "Real-time Control of Electric Autonomous Mobility-on-Demand Systems via Graph Reinforcement Learning"
      Python
      •
      MIT License
      •2•7•0•0•Updated Jun 22, 2024Jun 22, 2024

    • ASL-X-Plane-11-Platform

      Public
      Jupyter Notebook
      •0•2•1•0•Updated Apr 9, 2024Apr 9, 2024

    • Pi-MPC

      Public
      Code accompanying "Perfecting Periodic Trajectory Tracking: Model Predictive Control with a Periodic Observer."
      Jupyter Notebook
      •4•11•0•0•Updated Apr 3, 2024Apr 3, 2024

    • nn_robustness_analysis

      Public
      Python tools for analyzing the robustness properties of neural networks (NNs) from MIT ACL
      Python
      •
      MIT License
      •15•1•0•0•Updated Feb 29, 2024Feb 29, 2024

    • chreach

      Public
      Convex hulls of reachable sets
      Python
      •
      MIT License
      •0•10•0•0•Updated Feb 29, 2024Feb 29, 2024

    • stlcg

      Public
      Jupyter Notebook
      •
      MIT License
      •20•67•2•1•Updated Feb 24, 2024Feb 24, 2024

    • GuSTO.jl

      Public
      Guaranteed Sequential Trajectory Optimization (GuSTO), using sequential convex programming for trajectory optimization with strong theoretical guarantees
      Julia
      •
      MIT License
      •16•61•2•0•Updated Feb 16, 2024Feb 16, 2024