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bayes_opt_navigation

Informative path planning for a mobile robot using optimal control and Bayesian optimisation

diffusiontutorial

Quick and basic diffusion tutorial, heaving based on Lilian Weng's excellent blog https://lilianweng.github.io/posts/2021-07-11-diffusion-models/

dingoquadruped

Base code for the Dingo quadruped; modified from Stanford Pupper and Notspot repositories. Includes integration with ROS Noetic and a simulation of the Dingo

dmp_imitation

Imitation and playback using dmps

ece4191

eng5105

Software resources for ENG5105

fetch_gazebo

Gazebo simulator for Fetch

fk_workshop

A forward kinematics and gait workshop for year 11 students, accompanying a Dingo robot exercise

ilqr_pendulum

ILQR implementation (following Tassa et al - IROS 2012) for gym pendulum environment, using both known model and linear Gaussian dynamic model learning (Levine et al - JMLR 2016).

oc-notebooks

A series of notebooks for model-based DRL or optimal control. Includes direct trajectory optimisation, CEM policy training and CEM planning.

panda_moveit_config

The Panda robot is the flagship MoveIt integration robot

pcontrolworkshop

A simple p control workshop for year 11 students

pyrep_peg_insert

Peg insertion example using pyrep and coppeliasim

robot_containers

Create a containerised robotics project

ros_haptic_devices

ROS interface for 3D Systems Touch and Touch X haptic devices

social_forces_demo

Playing around with a social forces model https://arxiv.org/pdf/cond-mat/9805244.pdf

tabularrl

Some tabular RL examples