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openarm_control: Cascaded Joint Control for a Bimanual Manipulator in MuJoCo
A position-velocity-torque cascade with model-based gravity compensation and time-synchronised trajectory generation for the OpenArm v1, plus the five control defects found and fixed along the way.
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manipulation_vision: Building a Full Manipulation Stack on the Piper Arm
A detailed walkthrough of building simulation, tactile sensing, gain tuning, motion profiling, and GPU-scale training infrastructure for the PiperOmron robot in robocasa kitchen environments.
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BehaviorTree-RCA: LLM-Assisted Debugging for a Sawyer Pick-and-Insert Robot
A concrete walkthrough of using BehaviorTree.CPP, ROS Noetic, and a GPT-3.1/LangChain chatbot to build and debug a 3-object pick-and-insert pipeline on a Rethink Sawyer arm.
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Using LLMs for Root Cause Analysis in Robotic Behavior Trees
Building a GPT-4/LangChain chatbot for automated behavior tree root cause analysis using K-Means prompt clustering at CU Boulder's CAIRO Lab
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Behavior Trees as an alternative to FSM and Heirarchical FSM
Description and contrasting Properties of FSMs and HFSMs