Pinned Loading

1. ping-pong-domain-randomization ping-pong-domain-randomization Public

   Residual SAC + FSM/IK control for robotic ping-pong in Drake, with domain randomization for robustness and MuJoCo sim-to-sim transfer evaluation.

   Python 2

2. drake-motion-planning drake-motion-planning Public

   Sampling-based motion planning in Drake with collision avoidance in a shelf environment.

   Python

3. EigenFan EigenFan Public

   Deterministic trajectory planning from semidefinite relaxations to collision-free, smooth paths. EigenFan combines SDP relaxation, geometry-aware rounding, roadmap search, and convex smoothing with…

   HTML

4. sos-1d-obstacle-avoidance sos-1d-obstacle-avoidance Public

   Computational study of Putinar and Schmüdgen Sum-of-Squares relaxations for one-dimensional polynomial obstacle avoidance, including exactness, geometry, and solver-scaling experiments.

   Jupyter Notebook

5. stochastic-freezer-optimization stochastic-freezer-optimization Public

   Stochastic dynamic programming for industrial freezer control and compressor selection under time-of-use pricing, demand charges, thermal uncertainty, and safety constraints.

   Jupyter Notebook