Skip to content

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

All

    Repositories list

    49 repositories

    • GRiD

      Public
      A GPU accelerated library for computing rigid body dynamics with analytical gradients
      Cuda
      •
      MIT License
      •18•15•0•0•Updated Sep 17, 2026Sep 17, 2026

    • RBDReference

      Public
      A Python reference implementation of rigid body dynamics algorithms
      Python
      •
      MIT License
      •7•3•0•0•Updated Sep 17, 2026Sep 17, 2026

    • MPC-Injection

      Public
      Implementation for MPC-Injection
      reinforcement-learningmpcrl
      reinforcement-learningmpcrlmodel-predictive-control
      Python
      •
      MIT License
      •0•1•0•0•Updated Sep 16, 2026Sep 16, 2026

    • tinympc-crazyflie

      Public
      Documents on integrating TinyMPC into the Crazyflie nano-quadrotor
      C++
      •4•14•0•1•Updated Sep 12, 2026Sep 12, 2026

    • GLASS

      Public
      GPU Linear Algebra Simple Subroutines: a header-only CUDA template library for block-local BLAS/LAPACK + robotics operators, tuned per-architecture with signed …
      embeddedroboticsgpu
      embeddedroboticsgpulinear-algebracudaheader-onlyblaslapackjetson
      Cuda
      •
      MIT License
      •2•5•0•1•Updated Sep 10, 2026Sep 10, 2026

    • pytest-gpu-proof

      Public
      A Simple Pytest Extension for Local GPU Code Testing
      Python
      •
      MIT License
      •0•1•0•0•Updated Sep 10, 2026Sep 10, 2026

    • A2R-Lab.github.io

      Public
      HTML
      •0•0•0•0•Updated Sep 10, 2026Sep 10, 2026

    • TinySDP

      Public
      Real-time semidefinite optimization for embedded robotics, RSS 2026
      roboticsoptimizationmpc
      roboticsoptimizationmpcquadrotorsemidefinite-programmingcollision-avoidancecrazyfliemodel-predictive-control
      C++
      •
      MIT License
      •2•18•0•0•Updated Sep 9, 2026Sep 9, 2026

    • ADMM_FPGA

      Public
      Python
      •
      MIT License
      •1•4•0•0•Updated Sep 2, 2026Sep 2, 2026

    • GATO

      Public
      GPU-Accelerated Trajectory Optimization
      Cuda
      •
      MIT License
      •4•45•0•0•Updated Sep 2, 2026Sep 2, 2026

    • HJCD-IK

      Public
      GPU-Accelerated Inverse Kinematics
      Cuda
      •
      MIT License
      •2•19•0•0•Updated Sep 2, 2026Sep 2, 2026

    • MPPI-Generic

      Public
      Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)
      Cuda
      •
      BSD 2-Clause "Simplified" License
      •45•0•0•0•Updated Aug 27, 2026Aug 27, 2026

    • a2r_mocap

      Public
      Modular C++/Python/ROS 2 interface for OptiTrack motion capture using NatNet.
      C++
      •
      MIT License
      •0•0•0•0•Updated Aug 25, 2026Aug 25, 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
      •6•1•0•0•Updated Aug 8, 2026Aug 8, 2026

    • MPCGPU

      Public
      Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"
      Cuda
      •9•76•2•0•Updated Aug 3, 2026Aug 3, 2026

    • GBD-PCG

      Public
      A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver
      Cuda
      •3•5•0•1•Updated Aug 2, 2026Aug 2, 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 Jul 17, 2026Jul 17, 2026

    • ros2-crazyflie-mocap

      Public
      Python
      •0•0•0•0•Updated Jun 24, 2026Jun 24, 2026

    • TAG-K

      Public
      Tail-Averaged Greedy Randomized Kaczmarz
      Python
      •
      MIT License
      •0•1•0•0•Updated Jun 3, 2026Jun 3, 2026

    • crazyflie_fpga_firmware

      Public
      C
      •
      MIT License
      •0•0•0•0•Updated May 22, 2026May 22, 2026

    • mujoco_mpc

      Public
      Real-time behaviour synthesis with MuJoCo, using Predictive Control
      C++
      •
      Apache License 2.0
      •282•0•0•0•Updated May 5, 2026May 5, 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•2•1•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

    • 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

    • 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
    ProTip! When viewing an organization's repositories, you can use the props. filter to filter by custom property.