Compact C++ and Python framework for unconstrained optimal control with DDP, iLQR,
and iLQG solvers for robotics problems.
C++
Python
DDP
iLQR
Private repository.
Reusable trajectory-generation library with linear, polynomial, trapezoidal,
jerk-limited double-S, and waypoint spline profiles for robotics and CNC workflows.
C++
Python
Motion Profiles
Private repository.
Unified implementations of RRT, RRT*, RRT-Connect, PRM, PRM*, FMT*, BIT*, and
RABIT* with obstacle handling, tests, and optional Python bindings.
C++
Python
Motion Planning
Private repository.
Robotics-oriented estimation framework covering Bayes filter recursion, Kalman
variants, particle filtering, and Gauss-Hermite Gaussian filtering.
C++
Bayes Filters
Kalman Methods
Private repository.
PyTorch DDPM research platform with configurable U-Net diffusion models, Gaussian
diffusion utilities, AMP plus EMA training, and sampling workflows.
Python
PyTorch
DDPM
Single experimentation suite for dynamic programming, Monte Carlo methods,
temporal-difference learning, DQN variants, policy gradients, actor-critic, and
model-based reinforcement learning.
Python
RL
Experimentation
Research platform for LNN, DeLaN, and FeLaN dynamics modeling with reproducible
training workflows, double-pendulum baselines, and Pinocchio-based dataset
generation.
Python
JAX
PyTorch
Full-stack robot visualization tool with a FastAPI backend and React plus
TypeScript frontend for URDF, MJCF, and USD inspection in the browser.
FastAPI
React
Three.js
Redundancy-resolving inverse kinematics solver with pseudo-inverse Jacobians,
null-space projection, and secondary objectives for robust motion execution.
C++
Jacobian Methods
IK