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Motion Planning around Obstacles with Convex Optimization by Marcucci et al, 2023
Optax is a gradient processing and optimization library for JAX.
An OpenSCAD LEGO-compatible brick generator.
Sampling-based model predictive control on GPU with JAX/MJX
ParMETIS - Parallel Graph Partitioning and Fill-reducing Matrix Ordering
Gaming meets modern C++ - a fast and reliable entity component system (ECS) and much more
Multicamera Calibration + Pose Estimation --> Open Source Motion Capture
This Python library makes it easy to display images and videos in a notebook.
A machine learning compiler for GPUs, CPUs, and ML accelerators
GeoCalib: Learning Single-image Calibration with Geometric Optimization (ECCV 2024)
A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems
Lecture notes for CMU RI course 16-745 Optimal Control 2023. The lecture notes provided here have been organized to ensure a structured and comprehensive understanding.
Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dy…
Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …
Differentiable collision detection for polytopes, capsules, cylinders, cones, spheres, and polygons.
A next-gen solver for nonconvex optimization. Uno is a Lagrange-Newton solver that unifies barrier and SQP methods in a modern and generic way, and implements different globalization flavors (line …
Code for "GVHMR: World-Grounded Human Motion Recovery via Gravity-View Coordinates", Siggraph Asia 2024