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@A2R-Lab The Accessible and Accelerated Robotics Lab (A²R Lab)

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    44 repositories

    • ADMM_FPGA

      Public
      Python
      •
      MIT License
      •0•2•0•0•Updated Apr 16, 2026Apr 16, 2026

    • A2R-Lab.github.io

      Public
      HTML
      •0•0•0•0•Updated Apr 15, 2026Apr 15, 2026

    • GRiDCodeGenerator

      Public
      A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.
      Python
      •
      MIT License
      •6•1•0•0•Updated Apr 14, 2026Apr 14, 2026

    • HJCD-IK

      Public
      Cuda
      •2•15•0•0•Updated Mar 31, 2026Mar 31, 2026

    • tinympc-crazyflie

      Public
      Documents on integrating TinyMPC into the Crazyflie nano-quadrotor
      C++
      •3•10•0•0•Updated Mar 18, 2026Mar 18, 2026

    • crazyflie_fpga_firmware

      Public
      C
      •
      MIT License
      •0•0•0•0•Updated Mar 12, 2026Mar 12, 2026

    • Crazyflie_FPGA_Deck

      Public
      Expansion board for a Crazyflie drone featuring an AMD Xilinx Artix-7 100T FPGA. Designed in KiCad
      MIT License
      •0•1•0•0•Updated Mar 12, 2026Mar 12, 2026

    • TinyMPCReference

      Public
      A reference implementation of TinyMPC in pure Python
      Python
      •2•4•0•0•Updated Mar 8, 2026Mar 8, 2026

    • ros2-crazyflie-mocap

      Public
      Python
      •0•0•0•0•Updated Mar 1, 2026Mar 1, 2026

    • GATO

      Public
      GPU-Accelerated Trajectory Optimization
      Cuda
      •
      MIT License
      •3•36•0•0•Updated Feb 26, 2026Feb 26, 2026

    • TAG-K

      Public
      Tail-Averaged Greedy Randomized Kaczmarz
      Python
      •0•1•0•0•Updated Feb 13, 2026Feb 13, 2026

    • GRiD

      Public
      A GPU accelerated library for computing rigid body dynamics with analytical gradients
      Cuda
      •
      MIT License
      •17•14•0•0•Updated Feb 8, 2026Feb 8, 2026

    • RBDReference

      Public
      A Python reference implementation of rigid body dynamics algorithms
      Python
      •
      MIT License
      •7•3•0•0•Updated Feb 8, 2026Feb 8, 2026

    • URDFParser

      Public
      A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.
      Python
      •
      MIT License
      •5•1•0•0•Updated Feb 8, 2026Feb 8, 2026

    • mujoco_mpc

      Public
      Real-time behaviour synthesis with MuJoCo, using Predictive Control
      C++
      •
      Apache License 2.0
      •257•0•0•0•Updated Dec 12, 2025Dec 12, 2025

    • ADMMSlack

      Public
      Python
      •1•3•0•0•Updated Nov 10, 2025Nov 10, 2025

    • .github

      Public
      0•0•0•0•Updated Nov 10, 2025Nov 10, 2025

    • SGRUtils

      Public
      Simple GPU Robotics Utility Functions
      Cuda
      •0•1•0•0•Updated Oct 31, 2025Oct 31, 2025

    • TinyMPC.github.io

      Public
      HTML
      •2•0•0•0•Updated Oct 6, 2025Oct 6, 2025

    • GATO-RL

      Public
      Jupyter Notebook
      •0•0•0•0•Updated Aug 1, 2025Aug 1, 2025

    • GLASS

      Public
      GPU Linear Algebra Simple Subroutines
      Cuda
      •1•3•0•0•Updated Jul 24, 2025Jul 24, 2025

    • TrajoptMPCReference

      Public
      A Python reference implementation of trajectory optimization (trajopt) algorithms and model predictive control (MPC).
      Python
      •
      MIT License
      •5•8•0•0•Updated Jun 9, 2025Jun 9, 2025

    • GBD-PCG-Python

      Public
      Python
      •
      MIT License
      •0•1•0•0•Updated Jun 9, 2025Jun 9, 2025

    • GBD-PCG

      Public
      A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver
      Cuda
      •4•5•0•1•Updated May 14, 2025May 14, 2025

    • indy7-mpc

      Public
      MPC with the Indy7 manipulator
      Jupyter Notebook
      •0•0•0•0•Updated May 9, 2025May 9, 2025

    • indy7-sdk

      Public
      Deploy MPC for Indy7 hardware and in MuJoco
      C++
      •1•1•0•0•Updated Apr 18, 2025Apr 18, 2025

    • FoAC

      Public
      0•0•0•0•Updated Mar 27, 2025Mar 27, 2025

    • BCHOL

      Public
      Block factorization team working on improving rsqlr algorithm
      Cuda
      •0•2•0•0•Updated Feb 17, 2025Feb 17, 2025

    • BCHOL-python

      Public
      Python proof of concept for Block Cholesky : A Parallel linear system solver for optimal control.
      Python
      •0•2•0•0•Updated Jan 27, 2025Jan 27, 2025

    • MPCGPU

      Public
      Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"
      Cuda
      •8•70•2•0•Updated Dec 12, 2024Dec 12, 2024
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