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REALM's Projects

architect-iros2022 icon architect-iros2022

Project website for our IROS 2022 paper: Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logic

architect-rss2022 icon architect-rss2022

Project website for our RSS 2022 paper: Certifiable Robot Design Optimization using Differentiable Programming

architect_corl_23 icon architect_corl_23

Code accompanying our 2023 CoRL paper, "A Bayesian approach to breaking things: efficiently predicting and repairing failure modes via sampling"

breaking-things icon breaking-things

Project website for our CoRL 2023 paper. mit-realm.github.io/breaking-things

c3m-new icon c3m-new

A reimplementation of the CoRL'20 paper "Learning Certified Control Using Contraction Metric", by Dawei Sun, Susmit Jha, and Chuchu Fan.

ccm icon ccm

Learning Certified Control Using Contraction Metric (CoRL 2020)

conbat icon conbat

[ICRA2024] A transformer-based controller learning safe autonomous tasks from demonstrations.

crazyflie-firmware icon crazyflie-firmware

The main firmware for the Crazyflie Nano Quadcopter, Crazyflie Bolt Quadcopter and Roadrunner Positioning Tag.

dcrl icon dcrl

Density Constrained Reinforcement Learning

density_planner icon density_planner

Official code for "Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles using Density-based Reachability"

franka_ros icon franka_ros

A template repository for projects that run on our Franka Research 3

gcbf-pytorch icon gcbf-pytorch

PyTorch Official Implementation of CoRL 2023 Paper: Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control

gcbf-website icon gcbf-website

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"

gcbfplus icon gcbfplus

Jax Official Implementation of Paper: S Zhang*, Oswin So*, K Garg, C Fan: "GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control".

ground_control icon ground_control

ROS nodes for controlling the ground robots (F1tenth and Turtlebots)

highbay icon highbay

Code for working with the vicon system in the high bay.

hybrid-clf icon hybrid-clf

Learn to stabilize hybrid systems via a neural network controller and an RoA planner

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