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aa203-examples

Examples shown in class and recitation from AA203: Optimal and Learning-Based Control.

acados

Fast and embedded solvers for nonlinear optimal control

ai-lecture-slides

Lecture slides for an AI course, based on slides by Poole & Mackworth

bayesian_cbf

Code for the paper "Control Barriers in Bayesian Learning of System Dynamics"

c3m

Learning Certified Control Using Contraction Metric (CoRL 2020)

cbf-pointwise-feasibility

"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf

certificate_learning_examples

Examples of learning control certificates

clf-qp-controllers

Toolbox for CLF QP controllers and Trajectory Optimization for Bipedal Robots

comsol-clf

control-piecewise-affine-of-pendulum

constrained-model-predictive-control-synthesis

A set of m-files that hopefully implements the ideas given in (Lu, Li et al. 2013)

control

A repository for control benchmarking code

control-edx

covariance-steering-with-optimal-dr-risk-allocation

This repository contains the MATLAB code for simulating covariance steering for stochastic linear systems using optimal and distributionally robust risk allocation

cvxpylayers

Differentiable convex optimization layers

distributedsafelearning

Safe Learning for Distributed Systems with Bounded Uncertainties

gaussian-process-based-model-predictive-control

Project for the course "Statistical Learning and Stochastic Control" at University of Stuttgart

handson-ml2

A series of Jupyter notebooks that walk you through the fundamentals of Machine Learning and Deep Learning in Python using Scikit-Learn, Keras and TensorFlow 2.

helperoc

homework_fall2021

Assignments for Berkeley CS 285: Deep Reinforcement Learning (Fall 2021)

hpipm

High-performance interior-point-method QP and QCQP solvers

icra2021paperlist

ICRA 2021 paper list

implicit-flow-networks

Official code for the paper "Physics-Informed Implicit Representations of Equilibrium Network Flows"

inverted-pendulum

A survey of reinforcement learning solutions to the inverted pendulum problem.

kfexample

Kalman Filter Matlab implementation example

lake_como_school

Materials for the lake Como school

lane-change-cbf

Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change

learning-cbf-qp-mpc

Aircraft collision avoidance with CBF learned from expert demonstrations

learning-cbfs

Code needed to reproduce the examples found in "Learning Control Barrier Functions from Expert Demonstrations," by A. Robey, H. Hu, L. Lindemann, H. Zhang, D. V. Dimarogonas, S. Tu, and N. Matni, https://arxiv.org/abs/2004.03315

learnrl

Learning reinforcement learning (in MATLAB)

macbf

Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates