[RLC'26] Safe Flow Q-Learning: Offline Safe Reinforcement Learning with Reachability-Based Flow Policies

[CDC 2025] Official Implementation of the paper: "Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates"

[TMLR'26] V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions

Config files for my GitHub profile.

Papers on Safety Critical Controls using Control Barrier Functions

Model Predictive Control for Legged Robots

Tutorial on how to get started with MuJoCo Simulation Platform. MuJoCo stands for Multi-Joint dynamics with Contact.

[CDC 2024] Learning a Formally Verified Control Barrier Function in Stochastic Environment

[ICML 2025] A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems

Repository containing the code for safe reinforcement learning in two custom environments

The official Code for the paper "Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)"

Some Must Read Papers on Optimal Controls of Bipedal Robots

This is a quadruped simulated on pybullet physics engine, walking using trot and bound mechanisms

Comparison between use of arms and w/o it using MPC

Blogs Related to Robotics

Tutorial for Pybullet

Repository of implementation of few algorithms for Under-actuated Systems in Robotics and solutions to some interesting problems

Creating Bezier curves in Python

Robotics Bootcamp

Code for Offline Reinforcement Learning Using Implicit Q Learning

ME 604- Robotics Project (IIT Bombay) Kuka Robot

Trajectory Optimisation for Starship Landing

ME 6102 Design of Mechatronic Systems Project (IIT Bombay) Force Controlled Compliant Gripper

This is a Biped simulated on pybullet physics engine, walking