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@CLeARoboticsLab Control and Learning for Autonomous Robotics Lab

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    25 repositories

    • CLeARoboticsLab.github.io

      Public
      Jekyll-based CLeAR lab webpage
      machine-learningcontrolroboticsgame-theory
      TeX
      •
      MIT License
      •170•1•0•1•Updated Dec 30, 2025Dec 30, 2025

    • MixedComplementarityProblems.jl

      Public
      A custom interior point solver for mixed complementarity problems.
      Julia
      •
      BSD 3-Clause "New" or "Revised" License
      •4•18•3•0•Updated Nov 24, 2025Nov 24, 2025

    • OcclusionGames

      Public
      Python
      •0•0•0•0•Updated Nov 12, 2025Nov 12, 2025

    • MultiFidelityPolicyGradients

      Public
      Code for the work "A Multi-Fidelity Control Variate Approach for Policy Gradient Estimation."
      Python
      •
      MIT License
      •0•3•0•0•Updated Oct 9, 2025Oct 9, 2025

    • ZeroSumGameSolve.jl

      Public
      Julia
      •
      MIT License
      •0•0•0•2•Updated Aug 3, 2025Aug 3, 2025

    • julia-from-python

      Public
      Python
      •
      MIT License
      •0•0•0•0•Updated Jul 24, 2025Jul 24, 2025

    • STFL

      Public
      Python
      •
      MIT License
      •1•2•0•0•Updated Jul 22, 2025Jul 22, 2025

    • go2_isaac_ros2

      Public
      Simulation of a Unitree Go2 in Isaac Sim using ROS2 for low-level joint control.
      Python
      •
      Apache License 2.0
      •5•70•1•0•Updated May 30, 2025May 30, 2025

    • StackelbergLeadershipFiltering

      Public
      Julia
      •1•1•18•15•Updated May 15, 2025May 15, 2025

    • MCP_Isaac_sim_ros2

      Public
      ROS2 package for the custom interior point solver for mixed complementarity problems
      Julia
      •
      BSD 3-Clause "New" or "Revised" License
      •4•0•0•0•Updated May 12, 2025May 12, 2025

    • autonomy_stack_go2

      Public
      Full Autonomy Stack for Unitree Go2
      C++
      •49•0•0•0•Updated May 5, 2025May 5, 2025

    • ordered-preferences

      Public
      Julia
      •0•0•0•0•Updated Apr 29, 2025Apr 29, 2025

    • tsymRL

      Public
      Python
      •0•1•0•0•Updated Nov 8, 2024Nov 8, 2024

    • ssrl

      Public
      Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models
      Python
      •
      Apache License 2.0
      •4•40•2•0•Updated Oct 19, 2024Oct 19, 2024

    • GamesVoI.jl

      Public
      Solving two-player noncooperative games using value of information
      Julia
      •0•3•0•0•Updated Sep 17, 2024Sep 17, 2024

    • rc_ilqr.jl

      Public
      Julia
      •0•0•0•0•Updated Jul 9, 2024Jul 9, 2024

    • friction-estimator

      Public
      Jupyter Notebook
      •
      Apache License 2.0
      •0•0•0•0•Updated May 11, 2024May 11, 2024

    • drone_dataset_tools

      Public
      The goal of this repo is to make the drone datasets as easy to use as possible. For this purpose we provide source code in Python, which allows the import and visualization of the datasets.
      Python
      •
      Other
      •39•0•0•0•Updated Mar 28, 2024Mar 28, 2024

    • sindy_gp_admm

      Public
      Data-Driven Discovery of Equations of Motions
      Jupyter Notebook
      •1•0•0•2•Updated Mar 26, 2024Mar 26, 2024

    • DCLF-RL

      Public
      MATLAB
      •
      MIT License
      •0•3•0•0•Updated Mar 20, 2024Mar 20, 2024

    • unitree_ros_to_real

      Public
      C++
      •104•1•0•0•Updated Mar 7, 2024Mar 7, 2024

    • InverseHyperplanes.jl

      Public
      Multi-agent collision-avoidance using hyperplanes learned from expert trajectories by solving an inverse game.
      Julia
      •
      MIT License
      •0•2•3•15•Updated Dec 2, 2023Dec 2, 2023

    • LearningWithSimpleModels.jl

      Public
      Reinforcement learning with approximate physics-based models and low-level feedback controllers
      Julia
      •
      BSD 3-Clause "New" or "Revised" License
      •0•2•0•0•Updated Oct 31, 2023Oct 31, 2023

    • RosSockets.jl

      Public
      Tools for sending and receiving information from ROS via TCP that can be used to control robots.
      Julia
      •
      BSD 3-Clause "New" or "Revised" License
      •0•3•0•0•Updated Jun 30, 2023Jun 30, 2023

    • ros_sockets

      Public
      ROS nodes for sending and receiving data via TCP sockets.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•1•3•0•Updated Jun 30, 2023Jun 30, 2023