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academic-resume

carla_simulation

Carla Simulation Environment for Imitation Learning and CBF

coursera_intro_to_probability_and_data

Course work for Introduction to Probability and Data by Duke on Coursera

coursework

Course related materials

ese-619-model-predictive-control

Lecture Slides, Personal Notes, Homework Solutions and Codes for ESE 619: Model Predictive Control 2023 Spring @ UPenn

ethicaltrajectoryplanning

An Ethical Trajectory Planning Algorithm for Autonomous Vehicles

exdata_plotting1

Plotting Assignment 1 for Exploratory Data Analysis

f1tenth_mpcc

f1tenth_mppi

f1tenth_planning

Central repo for all motion planners created for F1TENTH.

fractured-data

global_racetrajectory_optimization

This repository contains multiple approaches for generating global racetrajectories.

legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

mpc_python

Python implementation of mpc controller for path tracking

mppi_cbf

Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.

mujoco

my_bibliography_for_research_on_autonomous_driving

Personal notes about scientific and research works on "Decision-Making for Autonomous Driving"

object_detection_demo

How to train an object detection model easy for free

phd-bibliography

References on Optimal Control, Reinforcement Learning and Motion Planning

pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

python-mppi

pytorch-alphazero

spline-trajectory-optimization

Spline-based Trajectory Optimization Tool for Autonomous Racing (Indy Autonomous Challenge)

upenn_mechatronics

MEAM510 introduces mechatronics design – gives skills to build electro-mechanical devices, and an understanding of electromechanical elements

urdfdom

URDF parser

urdfdom_headers

Headers for URDF parsers

waymo-open-dataset

Waymo Open Dataset