Repositories list

• reform

  Public
  Official Implementation of ICLR2026 Paper: Songyuan Zhang, Oswin So, H. M. Sabbir Ahmad, Eric Yang Yu, Matthew Cleaveland, Mitchell Black, Chuchu Fan: "ReFORM: …

  Python

  •

  MIT License

  •2•4•0•0•Updated Feb 6, 2026Feb 6, 2026

• fge

  Public
  Official Implementation of ICLR 2026 Paper: Oswin So*, Eric Yang Yu*, Songyuan Zhang, Matthew Cleaveland, Mitchell Black, Chuchu Fan: "Solving Parameter-Robust …

  MIT License

  •0•0•0•0•Updated Feb 4, 2026Feb 4, 2026

• 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 MP…

  roboticsreachabilitysafety+ 3cbfmppineural-cbf

  Astro

  •0•4•1•7•Updated Jan 20, 2026Jan 20, 2026

• TDTSP

  Public
  JavaScript

  •0•0•0•0•Updated Dec 18, 2025Dec 18, 2025

• VLM_gcbfplus

  Public
  Python

  •

  MIT License

  •2•7•0•7•Updated Nov 20, 2025Nov 20, 2025

• VLM-gcbfplus-website

  Public
  JavaScript

  •0•0•0•0•Updated Nov 15, 2025Nov 15, 2025

• contextualfailures-website

  Public
  Official website for CoRL 2025 paper, A. Parashar, J. Zhang, Y. Li, C. Fan: "Cost-aware Discovery of Contextual Failures using Bayesian Active Learning"

  JavaScript

  •0•0•0•0•Updated Sep 28, 2025Sep 28, 2025

• contextual_failure

  Public
  Python

  •

  MIT License

  •0•0•0•0•Updated Sep 27, 2025Sep 27, 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…

  reinforcement-learningroboticssafety+ 1multi-agent-systems

  Python

  •

  MIT License

  •5•31•0•0•Updated Jul 2, 2025Jul 2, 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 Dis…

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

  Python

  •

  MIT License

  •26•110•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 Saf…

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

  Python

  •

  MIT License

  •8•25•0•0•Updated May 14, 2025May 14, 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 Cont…

  JavaScript

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

• pncbf

  Public
  Python

  •

  MIT License

  •2•10•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 Distribute…

  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

  •2•32•0•11•Updated Nov 18, 2024Nov 18, 2024

• radium_tro_24

  Public
  Code accompanying our T-RO paper: "RADIUM: Predicting and Repairing End-to-End Robot Failures using Gradient-Accelerated Sampling"

  Python

  •

  BSD 2-Clause "Simplified" License

  •0•5•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•6•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•26•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

  •55•180•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

  •7•36•0•2•Updated May 30, 2024May 30, 2024

• neural_langevin

  Public
  JavaScript

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