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    55 repositories

    • gcbfplus

      Public
      Jax Official Implementation of T-RO Paper: Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan: "GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control".
      Python
      •
      MIT License
      •13•46•0•0•Updated Feb 4, 2025Feb 4, 2025

    • gcbfplus-website

      Public
      Official website of our T-RO paper: Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan: "GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control".
      JavaScript
      •0•0•0•0•Updated Jan 27, 2025Jan 27, 2025

    • dgppo

      Public
      Official Implementation of ICLR2025 Paper: Songyuan Zhang, Oswin So, Mitchell Black, Chuchu Fan: "Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control".
      Python
      •
      MIT License
      •0•4•0•0•Updated Jan 22, 2025Jan 22, 2025

    • ground_control

      Public
      ROS nodes for controlling the ground robots (F1tenth and Turtlebots)
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Dec 10, 2024Dec 10, 2024

    • CBF-INC-RRT

      Public
      Official implementation of ICRA'24 paper: Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller
      Python
      •
      MIT License
      •1•20•0•11•Updated Nov 18, 2024Nov 18, 2024

    • radium_tro_24

      Public
      Public code accompanying our T-RO submission
      Python
      •
      BSD 2-Clause "Simplified" License
      •0•0•0•0•Updated Nov 10, 2024Nov 10, 2024

    • few-demo

      Public
      JavaScript
      •0•0•0•0•Updated Nov 5, 2024Nov 5, 2024

    • nn-hybrid-clf

      Public
      [L4DC2023] A neural network policy learning framework to stabilize hybrid systems for robots.
      controlroboticsneural-networkslyapunov-functions
      Python
      •
      MIT License
      •0•1•0•3•Updated Oct 17, 2024Oct 17, 2024

    • stl-neural-control

      Public
      [RA-L2023/ICRA2024] A differentiable robot learning framework for task specifications and controller synthesis.
      roboticsneural-networkssignal-temporal-logic
      Python
      •
      MIT License
      •0•3•0•0•Updated Oct 17, 2024Oct 17, 2024

    • pstl-diffusion

      Public
      [RA-L2024/ICRA2025] Official implementation for paper "Diverse Controllable Diffusion Policy with Signal Temporal Logic."
      roboticsautonomous-drivingdiffusion-modelssignal-temporal-logic
      Python
      •0•3•0•0•Updated Oct 17, 2024Oct 17, 2024

    • neural-langevin-website

      Public
      JavaScript
      •0•0•0•0•Updated Oct 11, 2024Oct 11, 2024

    • LLM-gcbfplus-website

      Public
      JavaScript
      •0•0•0•0•Updated Sep 26, 2024Sep 26, 2024

    • VLM_gcbfplus

      Public
      Python
      •0•2•0•0•Updated Sep 5, 2024Sep 5, 2024

    • lyge

      Public
      Python
      •1•3•1•4•Updated Aug 31, 2024Aug 31, 2024

    • CBF-INC-RRT-website

      Public
      JavaScript
      •0•1•0•0•Updated Aug 21, 2024Aug 21, 2024

    • jax-f16

      Public
      Jax version of F16 dynamics
      Python
      •
      GNU General Public License v3.0
      •3•19•0•0•Updated Aug 18, 2024Aug 18, 2024

    • neural_clbf

      Public
      Toolkit for learning controllers based on robust control Lyapunov barrier functions
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •45•145•3•1•Updated Jul 10, 2024Jul 10, 2024

    • lyge-website

      Public
      JavaScript
      •0•0•0•0•Updated Jul 2, 2024Jul 2, 2024

    • gcbf-pytorch

      Public
      PyTorch Official Implementation of CoRL 2023 Paper: Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control
      Python
      •5•28•0•2•Updated May 30, 2024May 30, 2024

    • neural_langevin

      Public
      JavaScript
      •0•0•0•0•Updated Apr 16, 2024Apr 16, 2024

    • nla_website

      Public
      JavaScript
      •0•0•0•0•Updated Apr 15, 2024Apr 15, 2024

    • radium

      Public
      Project website for RADIUM project
      JavaScript
      •0•0•0•0•Updated Apr 4, 2024Apr 4, 2024

    • LLM_gcbfplus

      Public
      multiagent-systemssafe-controlllm
      Python
      •
      MIT License
      •0•7•1•0•Updated Mar 28, 2024Mar 28, 2024

    • hybrid-clf

      Public
      Learn to stabilize hybrid systems via a neural network controller and an RoA planner
      JavaScript
      •0•0•0•0•Updated Mar 12, 2024Mar 12, 2024

    • efppo

      Public
      optimal-controlsafe-reinforcement-learninghamilton-jacobi-reachabilityreinforcement-learning
      Python
      •1•8•1•0•Updated Mar 5, 2024Mar 5, 2024

    • conbat

      Public
      [ICRA2024] A transformer-based controller learning safe autonomous tasks from demonstrations.
      JavaScript
      •0•2•0•0•Updated Mar 1, 2024Mar 1, 2024

    • gcbf-website

      Public
      Official website of our CoRL 2023 paper: S Zhang, K Garg, C Fan: "Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control"
      JavaScript
      •1•1•0•0•Updated Jan 29, 2024Jan 29, 2024

    • neuriss-website

      Public
      Official website of our L4DC 2023 paper: S Zhang, Y Xiu, G Qu, C Fan: "Compositional Neural Certificates for Networked Dynamical Systems"
      JavaScript
      •0•1•0•0•Updated Jan 29, 2024Jan 29, 2024

    • pncbf

      Public
      Astro
      •0•2•0•1•Updated Jan 20, 2024Jan 20, 2024

    • stl_mpc

      Public
      Learning neural controller that satisfies Signal Temporal Logic constraints
      JavaScript
      •0•0•0•0•Updated Dec 22, 2023Dec 22, 2023