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1. OpenQuadruped/spot_mini_mini OpenQuadruped/spot_mini_mini Public

   Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

   C++ 842 178

2. motion_planning motion_planning Public

   Motion Planning Library to accompany turtlebot3_from_scratch repository. Deployed PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, and MPPI.

   C++ 181 39

3. turtlebot3_from_scratch turtlebot3_from_scratch Public

   Turtlebot3 with EKF SLAM and Inverse Kinematics from Scratch

   C++ 26 13

4. plen_ml_walk plen_ml_walk Public

   A PLEN2 Robot learns to walk using Twin-Delayed Deep Deterministic Policy Gradient in Gazebo and PyBullet with a custom OpenAI Gym interface

   Python 29 12

5. 2d_arm_diffusion 2d_arm_diffusion Public

   Training a simple diffusion policy for 2D arm control in push tasks. There's also a script to generate jupyter notebooks to upload to cloud GPU services (e.g Kaggle)

   Python 6

6. attention_viz attention_viz Public

   Attention visualization for Mechanistic Interpretability

   Python