Portfolio-of-Robot-Learning-Algorithms

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Portfolio-of-Robot-Learning-Algorithms

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My personal portfolio of robot learning algorithms

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# Portfolio-of-Robotics-Algorithms

My personal portfolio of robot learning algorithms, from course materials in 517 and 650 at UPenn.

* This repository is continuously updated with new algorithms and implementations as I learn them.

* Last updated: 2024-Apr-6

## Table of Contents

1. Optimal Control and Trajectory Optimization: LQR, MPC, Energy Shaping, iLQR, Collocation, Min-snap

2. State Estimation: Kalman Filter, EKF, UKF, Particle Filter

3. Perception: 2D SLAM with PF, NeRF (to be updated)

4. Planning: Dynamic Programming, etc (to be updated)

5. Robot Learning: HMM, DQN (to be updated)

## Results and Demos

### 1. Energy shaping of a cartpole system

### 2. LQR for a 2D quadrotor

### 3. MPC for a 2D quadrotor

### 4. iLQR

### 5. Direct Collocation

### 6. Min-snap

### 7. Kalman Filter, EKF, & UKF for quaternions

* Using EKF to estimate a system parameter

### 8. 2D SLAM with Particle Filter

### 9. NeRF

### 10. Dynamic Programming

* Value Iteration

* Policy Iteration

### 11. PPO

## Acknowledgements

Original 650 course materials are from Prof. Pratik Chaudhari, 517 are from Prof. Michael Posa.

During my implementation, I also learned a lot from Anirudh Kailaje (https://github.com/KailajeAnirudh). Please also star his wonderful repositories if you find mine helpful.

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