This repository contains tutorials and resources for new RCI Lab students.
These materials cover various topics including Navigation, Control, Reinforcement Learning, and Simulation to help you get started with your research.
tutorials related to path planning, navigation stacks, and multi-robot fleet management.
- Nav2 Structure & Principles, Behavior Tree Understanding the architecture of ROS2 Navigation2 and Behavior Trees.
- Grid Based Planning Basics of path planning algorithms on grid maps.
- Sampling Based Planning Tutorials on sampling-based algorithms (RRT, PRM, etc.).
- Open-RMF Open Robotics Middleware Framework for interoperability in heterogeneous robot fleets.
Resources for robot control theory, inverse dynamics, and kinematics.
- Inverse Dynamics (OSC, QP, HQP, TSID) Advanced control methods including Operational Space Control and Quadratic Programming.
- Optimal Control Introduction to optimal control theory and implementation.
- Model Predictive Path Integral (MPPI) Tutorial on MPPI control strategy.
- Manipulator Inverse Kinematics Solving inverse kinematics for robotic manipulators.
- Pinocchio Library Tutorial Guide to using the Pinocchio library for rigid body dynamics.
- Mobile Robot Kinematics and Path Tracking Tutorial on mobile robot kinematics and path tracking algorithms.
Deep learning and reinforcement learning applications in robotics.
- Reinforcement Learning (Isaac Sim) - PPO PPO algorithm implementation using Isaac Sim.
- Humanoid Reinforcement Learning From Locomotion to Whole-body Motion Retargeting.
- rl_sar: Introduction & Navigation Introduction to rl_sar and training methods for navigation.
- Imitation Learning: Diffusion Policy Tutorial on Diffusion Policy for robotic imitation learning.
- PINN (Physics-Informed Neural Network) Principles of PINN and its application to Robotics.
- IsaacLab Tutorial for NVIDIA IsaacLab simulation environment.
- Unity–ROS2 Event-Driven Simulation Unity-ROS2 based event-driven autonomous driving stack simulation.
Maintained by RCI Lab Students.