A Revised Version of GCOPTER (ROS1 & ROS2 compatible)

Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms

[RSS 2025] ROMAN: a view-invariant global localization method that matches objects from different robot views for reliable pose estimation even when a scene is observed from opposite views

Repo for robust training of NN controllers with verification tools

A ROS wrapper for implementing convex decomposition

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF,…

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Vorono…

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time…

Rover Trajectory Optimization ROS

🤗 Diffusers: State-of-the-art diffusion models for image, video, and audio generation in PyTorch.

Code for the paper "Training Diffusion Models with Reinforcement Learning"

DDPO for finetuning diffusion models, implemented in PyTorch with LoRA support

Trajectory Optimization

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

A beautiful, simple, clean, and responsive Jekyll theme for academics

Python sample codes and textbook for robotics algorithms.

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research

A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.

PUMA: Fully Decentralized Uncertainty-aware Multiagent Trajectory Planner with Real-time Image Segmentation-based Frame Alignment

graph-theoretic framework for robust pairwise data association

Decentralized Multiagent Trajectory Planner Robust to Communication Delay

A build-it-yourself, 6-wheel rover based on the rovers on Mars!