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@tud-amr Autonomous Multi-Robots Lab. Delft University of Technology

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    43 repositories

    • pumafabrics

      Public
      Code accompanying the paper "TamedPUMA: safe and stable imitation learning with geometric fabrics" (L4DC 2025)
      Python
      •
      MIT License
      •2•19•1•0•Updated Aug 18, 2026Aug 18, 2026

    • website

      Public
      AMR website
      HTML
      •4•0•0•0•Updated Jul 21, 2026Jul 21, 2026

    • ScanNet-SG

      Public
      A large-scale dataset for scene graph alignment based on ScanNet.
      Python
      •
      Apache License 2.0
      •0•11•0•0•Updated Apr 20, 2026Apr 20, 2026

    • stem

      Public
      Semantic Target Search and Exploration using MAVs
      Python
      •1•0•0•0•Updated Sep 4, 2025Sep 4, 2025

    • mppi-isaac

      Public
      Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated
      Python
      •36•360•13•0•Updated Aug 17, 2025Aug 17, 2025

    • rotors_simulator

      Public
      RotorS is a UAV gazebo simulator
      C++
      •787•0•0•0•Updated Aug 7, 2025Aug 7, 2025

    • DecompUtil

      Public
      A header only c++ package for convex decomposition using ellipsoids
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •70•0•0•0•Updated Aug 7, 2025Aug 7, 2025

    • SVG-MPPI

      Public
      Improving navigation in cluttered environments through movability awareness of blocking obstacles.
      Python
      •
      MIT License
      •1•18•0•0•Updated May 6, 2025May 6, 2025

    • mpc_planner

      Public
      An MPC Motion Planner in ROS/C++
      C++
      •
      Apache License 2.0
      •37•397•8•0•Updated Mar 30, 2025Mar 30, 2025

    • m3p2i-aip

      Public
      Code for the IEEE Robotics and Automation Letters paper titled "Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning"
      Python
      •
      MIT License
      •4•89•1•0•Updated Mar 6, 2025Mar 6, 2025

    • semantic_dsp_map

      Public
      Semantic DSP Map in paper "Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments"
      dynamic-environmentssemantic-mapping
      dynamic-environmentssemantic-mapping
      C++
      •
      Apache License 2.0
      •6•86•0•0•Updated Feb 28, 2025Feb 28, 2025

    • fabrics

      Public
      Optimization fabrics for behavior design
      Python
      •
      GNU General Public License v3.0
      •13•98•14•2•Updated Feb 1, 2025Feb 1, 2025

    • mpc_planner_ws

      Public
      VSCode Containerized environment for mpc_planner
      roboticscontainermotion-planning
      roboticscontainermotion-planning
      Shell
      •
      Apache License 2.0
      •10•43•1•0•Updated Jan 9, 2025Jan 9, 2025

    • guidance_planner

      Public
      A topology aware sampling-based global planner for dynamic 2D environments
      roboticsplanning-algorithmsglobal-planner
      roboticsplanning-algorithmsglobal-plannersampling-based-planning
      C++
      •
      Apache License 2.0
      •10•79•0•0•Updated Jan 9, 2025Jan 9, 2025

    • gym_envs_urdf

      Public
      URDF environments for gym
      Python
      •
      GNU General Public License v3.0
      •18•0•0•0•Updated Dec 4, 2024Dec 4, 2024

    • mobile-manipulator-compliance

      Public
      C
      •5•50•2•2•Updated Oct 31, 2024Oct 31, 2024

    • multi-robot-fabrics

      Public
      Multi-robot local motion planning using dynamic optimization fabrics.
      motion-planningmulti-robotfabrics
      motion-planningmulti-robotfabrics
      Python
      •3•40•3•1•Updated Jul 30, 2024Jul 30, 2024

    • mppi_torch

      Public
      Python
      •5•38•3•1•Updated Jun 25, 2024Jun 25, 2024

    • biased-mppi

      Public
      PyTorch examples for the IEEE Robotics and Automation Letters paper titled "Biased-MPPI: Informing Sampling-Based Model Predictive Control by Fusing Ancillary C…
      4•49•0•0•Updated May 22, 2024May 22, 2024

    • interaction_aware_mppi

      Public
      Pytorch re-implementation of the paper "Multi-agent path integral control for interaction-aware motion planning in urban canals" by Lucas Streichenberg, Elia Tr…
      Python
      •1•19•0•0•Updated May 17, 2024May 17, 2024

    • ncbf-simultaneous-synthesis-and-verification

      Public
      Python
      •2•8•0•0•Updated May 17, 2024May 17, 2024

    • vicon_util

      Public
      Utilities to process data from the Vicon system for motion planning
      C++
      •0•0•1•0•Updated Apr 24, 2024Apr 24, 2024

    • parl

      Public
      Predictability-aware reinforcement learning.
      Python
      •
      MIT License
      •0•1•0•0•Updated Feb 3, 2024Feb 3, 2024

    • msc_thesis_website_template

      Public
      This is a local version of the template for the Master Thesis Websites, which will be hosted in our group's website. The template is intended for the students t…
      HTML
      •0•1•0•0•Updated Jan 28, 2024Jan 28, 2024

    • pose_annotation_tool

      Public
      Python
      •3•1•0•0•Updated Jan 15, 2024Jan 15, 2024

    • hackathon-template-motion-planning

      Public
      Hackaton template Jan 2024 by Lasse
      CMake
      •1•0•0•0•Updated Jan 12, 2024Jan 12, 2024

    • exploration2d_sb3

      Public
      Python
      •0•0•0•0•Updated Dec 7, 2023Dec 7, 2023

    • mocap_optitrack

      Public
      ROS nodes for working with the NaturalPoint Optitrack motion capture setup
      C++
      •149•3•1•0•Updated Nov 22, 2023Nov 22, 2023

    • IA-MPPI-LBM

      Public
      Training and testing scripts for the prediction model used in the "Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictions" paper.
      Python
      •
      GNU General Public License v3.0
      •3•21•0•0•Updated Nov 14, 2023Nov 14, 2023

    • amr-lmpcc

      Public
      C
      •
      Apache License 2.0
      •30•141•3•3•Updated Aug 24, 2023Aug 24, 2023
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