Code

Most of my code is open sourced under GPL v3.0 license. I code in various languages including C++, Julia, and Python.

The following are a few highlights:

• Lazy Model-based Policy Search (LAMPS)

• Task-Aware Online Model Search with Misspecified Model Classes

• On the Effectiveness of Iterative Learning Control

• CMAX++: Leveraging Experience in Planning and Execution using Inaccurate Models

• TRON: A Fast Solver for Trajectory Optimization with Non-Smooth Cost Functions

• CMAX: Planning and Execution using Inaccurate Models with Provable Guarantees

• iLQR planning for a differential drive robot C++

• Contrasting Exploration in Parameter and Action Space

• Exploration in Action Space

• Predictive uncertainty using deep ensembles

• Path Planning in Dynamic Environments using Adaptive Dimensionality

• Transition-based RRT*

• Anytime D*

• Depixelizing Pixel Art