Haitong Ma's Projects
Starter code accompanying homework assignments from AA203: Optimal and Learning-Based Control.
ADP demo code for Reinforcement Learning and Control, Tsinghua Univ. Lecture Notes.
OpenAI Baselines: high-quality implementations of reinforcement learning algorithms
This repository hosts a customized PPO based agent for Carla. The goal of this project is to make it easier to interact with and experiment in Carla with reinforcement learning based agents -- this, by wrapping Carla in a gym like environment that can handle custom reward functions, custom debug output, etc.
Synthesis of control barrier functions with SOS
Matlab class/functions to simulate a system implementing a control lyapunov-control barrier function quadratic program controller
An implementation of Constrained Policy Optimization (Achiam 2017) in PyTorch
Code for conservative Q-learning
Code for Learning Barrier Certificates: Towards Safe Reinforcement Learning with Zero Training-time Violations
The main firmware for the Crazyflie Nano Quadcopter, Crazyflie Bolt Quadcopter and Roadrunner Positioning Tag.
A Large Quadcopter Swarm
Distributed Bayesian Optimization for Multi-Agent Systems
Density Constrained Reinforcement Learning
PyTorch implementation of DQN, AC, ACER, A2C, A3C, PG, DDPG, TRPO, PPO, SAC, TD3 and ....
[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion
Entropy Search for Information-Efficient Global Optimization - JMLR v13
Real Vehicle Experiment for Integrated decision and control framwork
Code for paper Feasible Actor-Critic: Constrained Reinforcement Learning for Ensuring Statewise Safety.
Pytorch Implementation for First Order Constrained Optimization in Policy Space (FOCOPS).
The official repo for NeurIPS 2021 paper 'Reducing Collision Checking for Sampling-Based Motion Planning Using Graph Neural Networks'
An OpenAI gym wrapper for CARLA simulator
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