MizuhoAOKI's portfolio

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

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

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

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

A collection of hands-on examples for exploring numerical algorithms with JAX.

gaussian process examples

bayesian inference examples

Docker environment to quickly try out "Genesis", a universal physics engine.

neural network playground

motion planning examples

radar chart example

koopman operator examples

control barrier function examples

simple project page template written by pure HTML

Markov Chain Monte Carlo (MCMC) examples

numerical simulation with path integral

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

Easy tutorial to understand how to use GCC, Make, and CMake properly.

[for me] vscode extension for plotting csv

100+ favorite papers from the fields of robotics, autonomous driving, and related areas, updated continuously.

MPC pathtracking implementation with python, solved by PANOC/IPOPT

sandbox of reinforcement learning

An easy-to-use carsim wrapper library to call carsim solver from c++ programs

An easy-to-use carsim wrapper library to call carsim solver from python scripts.

manipulator visualizer

Simple visualization of vehicle trajectory with SVG animation.