Highlights
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quad_koopman_mpc Public
Forked from iit-DLSLab/Quadruped-PyMPCA koopman operator based model predictive controller for quadruped robots
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SKOOPI_optimal_control Public
Spectral KOopman approach to Optimal control using the Path-Integral formulation
MATLAB MIT License UpdatedOct 30, 2025 -
time_varying_density Public
This repo is used to develop code for time-varying density functions
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Koopman_PathIntegral_GNC Public
Example code for path integral based eigenfunctions
MATLAB MIT License UpdatedSep 25, 2025 -
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mpc_cdf Public
Discrete time safe MPC with CDF constraints
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mujoco_playground_kmpc Public
Forked from google-deepmind/mujoco_playgroundAn open-source library for GPU-accelerated robot learning and sim-to-real transfer.
Jupyter Notebook Apache License 2.0 UpdatedSep 15, 2025 -
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RL_UR5_IsaacLab_CDF Public
CDF based RL agent to control a UR5 arm in Human-Robot collaborative environments
Python Other UpdatedSep 3, 2025 -
KoopmanMPC_Quadrotor Public
Develop a Koopman operator based MPC for controlling a quadrotor
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Koopman_PathIntegral Public
This repo is used to document my progress in computing the principle eigenfunctions of the Koopman operator using path integrals
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clearmotion_occMap Public
This repo tracks progress towards fusing occ maps with wheel accel and building a cost map
MATLAB UpdatedSep 26, 2024 -
koopman_learning_and_control Public
Forked from Cafolkes/koopman_learning_and_controlRepository for Koopman based learning and nonlinear control
C MIT License UpdatedMar 7, 2024 -
safe-control-gym Public
Forked from utiasDSL/safe-control-gymPyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL
Python MIT License UpdatedFeb 10, 2024 -
Robust_Optimization Public
This repo is part of the journal submission "Model Free Robust Optimization using Continuous Time Dynamics"
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quad_density Public
Density function based motion planning for quadruped locomotion
Python MIT License UpdatedApr 28, 2023 -
uncertainty_aware_navigation Public
This repo documents my motion planning project on uncertainty aware local navigation for multiagent systems
Python UpdatedFeb 24, 2023 -
Deep_Koopman_AutoEncoder Public
DNN based Koopman autoencoder model
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KoopmanMPC_AV Public
This repo is for developing a Koopman operator based MPC for autonomous vehicles.
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Passivity_Based_Control Public
Develop passivity based control for vehicle dynamics and wheeled quadruped robots based on energy shaping
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Koopman_Robots Public
This Repo is part of my implementation for applying Koopman Operator Theory for Robotic Systems
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Optim_EnergyShaping Public
Optimization based control for quadruped locomotion using energy shaping
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Quad_Manipulator Public
This repo will document my progress towards developing a Simulink based controller for quadruped locomotion with a manipulator for MathWorks Excellence in Innovation
MIT License UpdatedOct 18, 2022 -
Hamilton-Jacobi-Koopman Public
Forked from dynamicslab/pysindyA project for identifying Koopman eigenfunctions for Hamiltonian systems
Python UpdatedMay 26, 2022