A GPU-Accelerated Differentiable Simulation Framework for Efficient Quadrotor Policy Learning

Jax Official Implementation of T-RO Paper: Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan: "GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control".

A generic sampling-based MPC python library based on jax

Published on Nature Machine Intelligence! The first real robot(quadrotor) based on differentiable physics training.

An Open Flexible Quadrotor Simulator

Pointcloud compression library

Scalable drone simulation using JAX.

The Ark framework.

Multi-objective Gymnasium environments for reinforcement learning

Multi-Objective Reinforcement Learning algorithms implementations.

RMW for ROS 2 using Zenoh as the middleware

Training code PRIMAL2 - Public Repo

Official Implementation of RSS2025 Paper: Songyuan Zhang*, Oswin So*, Mitchell Black, Zachary Serlin, Chuchu Fan: "Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL".

A ROS implementation of ORB_SLAM2

Public code for "Data-Efficient Decentralized Visual SLAM"

Index repo for Kimera-Multi system

Code release for "A Testbed for Multi-Drone Volleyball Game Combining Motion Control and Strategic Play" (NeurIPS 2025), https://arxiv.org/abs/2502.01932

ROS2 node wrapping the ORB_SLAM2 library

ROS2 version of VINS-Fusion

Jax version of F16 dynamics

Voxblox-based Pose graph optimization

Simulation and analysis tools for autonomous F-16 maneuvers as a V&V benchmark

Python Version of F-16 Maneuver Verification Benchmark

Online Goal-Conditioned Reinforcement Learning in JAX. ICLR 2025 Spotlight.

Python tool for converting files and office documents to Markdown.

Massively parallel rigidbody physics simulation on accelerator hardware.