Taylor Howell

motion_planning. Algorithm and model experiments for robot motion planning. Implemented in Julia.

CALIPSO.jl. Conic Augmented Lagrangian Interior-Point SOlver

optimization_dynamics. Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928

IterativeLQR.jl. A Julia package for constrained iterative LQR (iLQR)

RoboDojo.jl. A differentiable simulator for robotic systems.

DirectTrajectoryOptimization.jl. A Julia package for constrained trajectory optimization using direct methods.

thesis. Stanford PhD Thesis

ppo.cpp. Proximal Policy Optimization (PPO) written in C++ with PyTorch (LibTorch)

rs. A simple JAX-based implementation of random search for locomotion tasks using MuJoCo XLA (MJX).

rs.cpp. A multi-threaded C++ implementation of random search for locomotion tasks using MuJoCo.

non-convex_solver. Julia

achtung. Jupyter Notebook

symbolics_double_pendulum. a short tutorial on using the Julia package Symbolics.jl to generate equations of motion from a Lagrangian

simple_trajectory_optimization. Examples showing how to set up trajectory optimization problems.

DIRTREL.jl. A tool for robust motion planning. Implemented in Julia.

cv. Curriculum Vitae

helmholtzcoils. Control Helmholtz coils to generate stationary and rotating uniform magnetic fields in any direction

ddp_tutorial. Differential Dynamic Programming Tutorial

mjx_warp. Python