Repositories list

• VLM_gcbfplus

  Public
  Python

  •0•2•0•0•Updated Jun 15, 2025Jun 15, 2025

• gcbfplus

  Public
  Jax Official Implementation of T-RO Paper: Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan: "GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control".

  machine-learningroboticssafety+ 2multi-agent-systemsneural-certificates

  Python

  •

  MIT License

  •20•81•1•0•Updated Jun 3, 2025Jun 3, 2025

• dgppo

  Public
  Official Implementation of ICLR2025 Paper: Songyuan Zhang, Oswin So, Mitchell Black, Chuchu Fan: "Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control".

  reinforcement-learningsafetymulti-agent-systems+ 1control-barrier-functions

  Python

  •

  MIT License

  •2•16•0•0•Updated May 14, 2025May 14, 2025

• ns-vimpc

  Public
  Official Implementation of RSS2025 Paper: Ji Yin, Oswin So, Eric Yang Yu, Chuchu Fan, Panagiotis Tsiotras: "Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions"

  roboticsreachabilitysafety+ 3cbfmppineural-cbf

  Astro

  •0•2•1•1•Updated Apr 30, 2025Apr 30, 2025

• def-marl

  Public
  Official Implementation of RSS2025 Paper: Songyuan Zhang*, Oswin So*, Mitchell Black, Zachary Serlin, Chuchu Fan: "Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL".

  reinforcement-learningroboticssafety+ 1multi-agent-systems

  Python

  •

  MIT License

  •0•11•0•0•Updated Apr 28, 2025Apr 28, 2025

• neuriss-website

  Public
  Official website of our L4DC 2023 paper: S Zhang, Y Xiu, G Qu, C Fan: "Compositional Neural Certificates for Networked Dynamical Systems"

  JavaScript

  •0•1•0•0•Updated Apr 15, 2025Apr 15, 2025

• gcbf-website

  Public
  Official website of our CoRL 2023 paper: S Zhang, K Garg, C Fan: "Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control"

  JavaScript

  •1•1•0•0•Updated Apr 15, 2025Apr 15, 2025

• VLM-gcbfplus-website

  Public
  JavaScript

  •0•0•0•0•Updated Mar 22, 2025Mar 22, 2025

• pncbf

  Public
  Python

  •

  MIT License

  •0•6•0•1•Updated Mar 7, 2025Mar 7, 2025

• gcbfplus-website

  Public
  Official website of our T-RO paper: Songyuan Zhang*, Oswin So*, Kunal Garg, Chuchu Fan: "GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control".

  JavaScript

  •0•0•0•0•Updated Jan 27, 2025Jan 27, 2025

• ground_control

  Public
  ROS nodes for controlling the ground robots (F1tenth and Turtlebots)

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •0•0•0•0•Updated Dec 10, 2024Dec 10, 2024

• CBF-INC-RRT

  Public
  Official implementation of ICRA'24 paper: Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller

  Python

  •

  MIT License

  •1•27•0•11•Updated Nov 18, 2024Nov 18, 2024

• radium_tro_24

  Public
  Public code accompanying our T-RO submission

  Python

  •

  BSD 2-Clause "Simplified" License

  •0•3•0•0•Updated Nov 10, 2024Nov 10, 2024

• few-demo

  Public
  JavaScript

  •0•0•0•0•Updated Nov 5, 2024Nov 5, 2024

• nn-hybrid-clf

  Public
  [L4DC2023] A neural network policy learning framework to stabilize hybrid systems for robots.

  controlroboticsneural-networks+ 1lyapunov-functions

  Python

  •

  MIT License

  •0•2•0•3•Updated Oct 17, 2024Oct 17, 2024

• stl-neural-control

  Public
  [RA-L2023/ICRA2024] A differentiable robot learning framework for task specifications and controller synthesis.

  roboticsneural-networkssignal-temporal-logic

  Python

  •

  MIT License

  •0•4•0•0•Updated Oct 17, 2024Oct 17, 2024

• pstl-diffusion

  Public
  [RA-L2024/ICRA2025] Official implementation for paper "Diverse Controllable Diffusion Policy with Signal Temporal Logic."

  roboticsautonomous-drivingdiffusion-models+ 1signal-temporal-logic

  Python

  •0•3•0•0•Updated Oct 17, 2024Oct 17, 2024

• neural-langevin-website

  Public
  JavaScript

  •0•0•0•0•Updated Oct 11, 2024Oct 11, 2024

• lyge

  Public
  Python

  •1•3•1•4•Updated Aug 31, 2024Aug 31, 2024

• CBF-INC-RRT-website

  Public
  JavaScript

  •0•1•0•0•Updated Aug 21, 2024Aug 21, 2024

• jax-f16

  Public
  Jax version of F16 dynamics

  Python

  •

  GNU General Public License v3.0

  •4•22•0•0•Updated Aug 18, 2024Aug 18, 2024

• neural_clbf

  Public
  Toolkit for learning controllers based on robust control Lyapunov barrier functions

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •49•165•3•1•Updated Jul 10, 2024Jul 10, 2024

• lyge-website

  Public
  JavaScript

  •0•0•0•0•Updated Jul 2, 2024Jul 2, 2024

• gcbf-pytorch

  Public
  PyTorch Official Implementation of CoRL 2023 Paper: Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control

  Python

  •5•33•0•2•Updated May 30, 2024May 30, 2024

• neural_langevin

  Public
  JavaScript

  •0•0•0•0•Updated Apr 16, 2024Apr 16, 2024

• nla_website

  Public
  JavaScript

  •0•0•0•0•Updated Apr 15, 2024Apr 15, 2024

• radium

  Public
  Project website for RADIUM project

  JavaScript

  •0•0•0•0•Updated Apr 4, 2024Apr 4, 2024

• LLM_gcbfplus

  Public
  multiagent-systemssafe-controlllm

  Python

  •

  MIT License

  •0•8•1•0•Updated Mar 28, 2024Mar 28, 2024

• hybrid-clf

  Public
  Learn to stabilize hybrid systems via a neural network controller and an RoA planner

  JavaScript

  •0•0•0•0•Updated Mar 12, 2024Mar 12, 2024

• efppo

  Public
  optimal-controlsafe-reinforcement-learninghamilton-jacobi-reachability+ 1reinforcement-learning

  Python

  •1•9•1•0•Updated Mar 5, 2024Mar 5, 2024