NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

Algorithms and Publications on 3D Object Tracking

Modern Robotics: Mechanics, Planning, and Control C++ Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code …

Cartesian impedance controller with reference limiting for Franka Emika Robot

[RSS 2024] Code for "Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals" for CALVIN experiments with pre-trained weights

This ROS kinectic workspace src folder, which was created on Ubuntu 16.04. Here I worked on ROS1 projects like 2d & 3D SLAM, Motion Planning, SWARM of drone, RL based drone, Surveilling Robot etc.

Learning Deformable Object Manipulation from Expert Demonstrations (RA-L, IROS 2022)

End-to-End Visual Obstacle Avoidance for a Robotic Manipulator usingDeep Reinforcement Learning