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1. Task-Driven-Hybrid-Reduction Task-Driven-Hybrid-Reduction Public

   We developed a task-driven hybrid model reduction method for solving dexterous manipulation with 5 minutes of online learning.

   Python 17 2

2. Pontryagin-Differentiable-Programming Pontryagin-Differentiable-Programming Public

   A unified end-to-end learning and control framework that is able to learn a (neural) control objective function, dynamics equation, control policy, or/and optimal trajectory in a control system.

   Python 164 23

3. Safe-PDP Safe-PDP Public

   Safe Pontryagin Differentiable Programming (Safe PDP) is a new theoretical and algorithmic safe differentiable framework to solve a broad class of safety-critical learning and control tasks.

   Python 71 7

4. Learning-from-Sparse-Demonstrations Learning-from-Sparse-Demonstrations Public

   A framework and method to jointly learn a (neural) control objective function and a time-warping function only from sparse demonstrations or waypoints.

   Python 20 5

5. Learning-from-Directional-Corrections Learning-from-Directional-Corrections Public

   A new method for a robot to learn a control objective from human user's directional corrections.

   Python 16 2

6. IOC-from-Incomplete-Trajectory-Observations IOC-from-Incomplete-Trajectory-Observations Public

   Inverse optimal control from incomplete trajectory observations, proposing the concept of the recovery matrix which provides further insights into objective learning process.

   MATLAB 12 4