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Oct 15, 2024
8294cd8 · Oct 15, 2024

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README.md

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This package contains necessary modules for car dynamics modeling and model-based controller

  • model_jax:

    • dbm.py: Dynamic Bicycle Model (DBM) for vehicle dynamics modeling
    • nn_dynamics.py: NN Wrapper for dynamics modeling

  • controllers_jax:

    • mppi.py: MPPI Implementation
    • mppi_helper.py: Helper functions for dealing with rollout functions

  • controllers_torch:

    • alt_pure_pursuit.py: Pure Pursuit Implementation
    • pid.py: PID Controller Implementation