Implementation of Model Tensor Planning in JAX, TMLR 2025 & ICLR 2026.

A minimalist mobile bimanual robot tutorial - hardware, data, model training and inference.

Real-time probabilistic inference-based motion planning for autonomous driving with MPPI

Scaling Urban Simulation - Infinite Physically-Plausible Urban Simulation = IsaacSim(Physically-Accurate Assets × Real-World City-Tour Layouts)

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments

Full Autonomy Stack for Mecanum Wheel Platform

Evidence-based costmap layer using ground and non-ground points to estimate occupancy with temporal decay and height-based filtering.

A C++ library for ground segmentation of a pointcloud

Demo ROS2 workspace for using nav2 with semantic segmentation on Gazebo

Nav2 costmap layer for semantic segmentation

A PyTorch implementation of a conditional Denoising Diffusion Probabilistic Model (DDPM) for multi-modal trajectory prediction. This project trains a U-Net on the Waymo Open Motion Dataset to gener…

The agent harness performance optimization system. Skills, instincts, memory, security, and research-first development for Claude Code, Codex, Opencode, Cursor and beyond.

[RA-L 26] Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation

Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.

Extend the navigation capabilities of Anymal-C in IsaacLab using Deep Reinforcement Learning

Spatially-Enhanced Recurrent Units (SRU) - PyTorch Implementation

"DeepTutor: Agent-Native Personalized Learning Assistant"

MuJoco Simulation on Web Assembly with Neural netwroks

[IEEE RA-L'25] NavRL: Learning Safe Flight in Dynamic Environments (NVIDIA Isaac/Python/ROS1/ROS2)

A collection of tabletop tasks in Mujoco

A topology aware sampling-based global planner for dynamic 2D environments

[RA-Letter 2023] RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

MPC implementations integrated with with PX4 on ROS2

Omnidirectional planner for mobile robots based on MPC

Plugin-based layer for social navigation in the Nav2 system of ROS2

A better local controller for ROS Navigation.

Local trajectory planner for human-aware navigation based on MPC

Nav2 plugin for Dynamic Window Pure Pursuit

Nav2 controller plugin utilizing Frenet Frames and ILQR