TAMP Framework with MoveIt ● ROS 2 ● C++ ● Python ● MoveIt 2 ● OMPL ● PDDL ROS 2 task and motion planning package using PDDL, Fast Downward, and MoveIt MotionBenchMaker - Pinocchio ● Python ● OMPL ● Pinocchio ● Coal Simulator-agnostic benchmarking framework for planners in robot manipulation problems Constrained Motion Planning for Active 3D Reconstruction ● Python ● PyBullet ● MoveIt 2 ● Intel RealSense Continuous constrained motion planning for active viewpoint selection using Expansion-GRR on a UR10 manipulator. Linear MPC with Dynamic Obstacle Avoidance ● C++ ● MuJoCo ● OSQP ● OMPL Linear MPC for trajectory tracking and dynamic obstacle avoidance on a UR10 manipulator using quadratic programming. Action Chunking Transformer for Robotic Peg Insertion ● Python ● PyTorch ● MuJoCo Learning vision-based peg insertion policies from scripted demonstrations using the Action Chunking Transformer (ACT). Reinforcement Learning for Robotic Object Picking ● Python ● PyTorch ● PyBullet Deep reinforcement learning for vision-based object picking with a KUKA manipulator using DDPG and A3C.
