Repositories list

• ECE346

  Public
  This repo hosts lab materials for the ECE 346 - Intelligent Robotics System - at Princeton University.

  Jupyter Notebook

  •24•25•0•0•Updated Feb 9, 2026Feb 9, 2026

• dynamic-odd

  Public
  Dynamic ODD project with Digit robot.

  MIT License

  •0•0•0•0•Updated Jan 15, 2026Jan 15, 2026

• VBD

  Public
  VBD: Versatile Behavior Diffusion for Generalized Traffic Agent Simulation

  Jupyter Notebook

  •

  Apache License 2.0

  •10•94•6•0•Updated Dec 5, 2025Dec 5, 2025

• safety-gymnasium

  Public
  NeurIPS 2023: Safety-Gymnasium: A Unified Safe Reinforcement Learning Benchmark

  Python

  •

  Apache License 2.0

  •78•0•0•0•Updated Oct 20, 2025Oct 20, 2025

• Gameplay-Filters

  Public
  Repo for Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination

  Python

  •

  MIT License

  •2•2•0•0•Updated Aug 20, 2025Aug 20, 2025

• RLHS

  Public
  RLHS: Mitigating Misalignment in RLHF with Hindsight Simulation

  Python

  •

  MIT License

  •0•6•0•0•Updated Jun 10, 2025Jun 10, 2025

• AprilTagSLAM_ROS

  Public
  This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.

  C++

  •

  Other

  •1•21•0•0•Updated May 5, 2025May 5, 2025

• go2_control_wrapper

  Public
  The Python wrapper for you to deploy your controller/policy to the Go2 robot.

  Python

  •

  MIT License

  •0•4•0•0•Updated Apr 29, 2025Apr 29, 2025

• PrincetonRaceCar_Interface

  Public
  Python

  •1•3•0•0•Updated Apr 11, 2025Apr 11, 2025

• PrincetonRaceCar_planning

  Public
  Jupyter Notebook

  •

  BSD 2-Clause "Simplified" License

  •2•4•0•1•Updated Apr 11, 2025Apr 11, 2025

• PrincetonRaceCar_routing

  Public
  Jupyter Notebook

  •0•0•0•0•Updated Apr 2, 2025Apr 2, 2025

• gym-pybullet-drones

  Public
  PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control

  Python

  •

  MIT License

  •513•0•0•0•Updated Mar 24, 2025Mar 24, 2025

• PrincetonRaceCar_msgs

  Public
  Custom ROS Messages for Princeton Race Car

  CMake

  •

  BSD 2-Clause "Simplified" License

  •0•0•0•0•Updated Mar 18, 2025Mar 18, 2025

• Maestro-Controller-ROS

  Public
  A ROS wrapper of Pololu Maestro USB Servo Controller

  C++

  •0•0•0•0•Updated Nov 21, 2024Nov 21, 2024

• PrincetonRaceCar_Interface_ros2

  Public
  Python

  •1•0•0•0•Updated Jul 31, 2024Jul 31, 2024

• KLGame

  Public
  Repository for "Blending Data-Driven Priors in Dynamic Games" - RSS 2024

  game-theoryflaxautonomous-driving+ 9trajectory-optimizationmulti-modalcar-racingkl-divergencejaxstochastic-gamedata-aware+ 2

  Python

  •

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

  •5•20•0•0•Updated Jun 25, 2024Jun 25, 2024

• Who_Plays_First

  Public
  Repository for "Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots" - RSS 2024

  optimizationmotion-planningmulti-agent+ 5swarmgame-theoryair-traffic-controlmixed-integer-programmingjax

  Python

  •

  MIT License

  •1•18•1•0•Updated Jun 25, 2024Jun 25, 2024

• Deception_Game

  Public
  Synthesizing safe robot policies in joint physical-belief spaces with deep RL! - CoRL 2023

  autonomous-drivinghuman-robot-interactiondecision-making-under-uncertainty+ 5deep-rljaxbelief-spacerobot-safetyadversarial-rl

  Python

  •

  MIT License

  •0•8•2•0•Updated Jun 24, 2024Jun 24, 2024

• Dual_Control_HRI

  Public
  Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023

  autonomous-drivinghuman-robot-interactiondecision-making-under-uncertainty+ 3scenario-mpcdual-controlgame-theoretic-planning

  MATLAB

  •

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

  •13•37•1•0•Updated Jun 24, 2024Jun 24, 2024

• iLQR_jax_racing

  Public
  Autonomous racing using ILQR and JAX.

  motion-planningtrajectory-optimizationcollision-avoidance+ 4car-racingilqrjaxsafety-filter

  Python

  •

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

  •6•37•0•0•Updated Jun 24, 2024Jun 24, 2024

• CBF_DDP

  Public
  Python

  •

  MIT License

  •4•7•0•0•Updated Jun 9, 2024Jun 9, 2024

• GhostSDK

  Public
  The repo for Ghost Robotics SDK to work with Spirit robot.

  Jupyter Notebook

  •

  Other

  •0•3•0•0•Updated May 4, 2024May 4, 2024

• opinion_game

  Public
  Multi-agent coordination using game theory and nonlinear opinion dynamics - CDC 2023

  coordinationmulti-agentgame-theoretic-planning+ 1nonlinear-opinion-dynamics

  Python

  •

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

  •2•14•0•0•Updated Nov 29, 2023Nov 29, 2023

• waymax

  Public
  A JAX-based simulator for autonomous driving research.

  Python

  •

  Other

  •125•0•0•0•Updated Nov 27, 2023Nov 27, 2023

• simulators

  Public
  Python

  •

  MIT License

  •2•4•0•0•Updated Nov 20, 2023Nov 20, 2023

• PrincetonRaceCar2023

  Public
  Python

  •0•0•0•0•Updated Aug 3, 2023Aug 3, 2023

• ISAACS

  Public
  Python

  •

  Other

  •4•19•0•0•Updated Jun 15, 2023Jun 15, 2023

• ECE346_Summer

  Public
  This repo hosts lab materials for the ECE 346 - Intelligent Robotics System - at Princeton University.

  Python

  •

  MIT License

  •24•0•0•0•Updated May 4, 2023May 4, 2023

• SimLabReal

  Public
  Safe Reinforcement Learning with Shielding and Generalization Guarantees

  Python

  •

  MIT License

  •0•5•0•0•Updated Mar 31, 2023Mar 31, 2023

• PrincetonRaceCar_sync

  Public
  Multi master ROS implementation for Princeton Race Car

  0•0•0•0•Updated Mar 17, 2023Mar 17, 2023