Awesome Differentiable Optimization and Planning in Robotics

This repo contains a curative list of papers using Differentiable Optimization and Planning in Robotics. Template from Awesome-LLM-Robotics

Please feel free to send me pull requests or email to add papers!

If you find this repository useful, please consider citing and STARing this list. Feel free to share this list with others!

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Overview

• Path Planning
• State Estimation/Filters
• Mapping
• Control
• Optimization
• Citation

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Path Planning

• D2CoPlan: "D2CoPlan: A Differentiable Decentralized Planner for Multi-Robot Coverage", ICRA 2023. [Paper] [Website]

• Calvin: "Towards real-world navigation with deep differentiable planners", CVPR 2022. [Paper] [Blog] [Code]

• DiffStack: "DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles", CoRL 2022. [Paper] [Website] [Code]

• SPT: "Differentiable Spatial Planning using Transformers", ICLR 2021. [Paper] [Website] [Talk]

• dGPMP2: "Differentiable Gaussian Process Motion Planning", ICRA 2020. [Paper] [Code]

• Trajectron++: "Trajectron++: Dynamically-Feasible Trajectory Forecasting With Heterogeneous Data", ECCV 2020. [Paper] [Code]

• DAN: "Differentiable Algorithm Networks for Composable Robot Learning", RSS 2019. [Paper] [Video] [Talk]

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State Estimation/Filters

• "How to Train Your Differentiable Filter", AR 2021. [Paper] [Code]

• DF-RNN: "Particle Filter Recurrent Neural Networks", AAAI 2020. [Paper] [Code]

• PF-Net: "Particle Filter Networks with Application to Visual Localization", CoRL 2018. [Paper] [Code]

• QMDP-Net: "QMDP-Net: Deep Learning for Planning under Partial Observability", NeurIPS 2017. [Paper] [Code]

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Mapping

• SLAM-Net: "Differentiable SLAM-net: Learning Particle SLAM for Visual Navigation", CVPR 2021. [Paper] [Website] [Talk]

• DMN: "Differentiable Mapping Networks: Learning Structured Map Representations for Sparse Visual Localization", ICRA 2020. [Paper] [Website] [Talk]

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Control

• "BarrierNet: Differentiable Control Barrier Functions for Learning of Safe Robot Control", "TRO 2023". [Paper] [Code]

• "An End-to-End Differentiable Framework for Contact-Aware Robot Design", RSS 2021. [Paper] [Website] [Code]

• Deluca: "Learning Constrained Adaptive Differentiable Predictive Control Policies With Guarantees", DiffCVGP Workshop NeurIPS 2020. [Paper] [Code]

• "Encoding Physical Constraints in Differentiable Newton-Euler Algorithm", L4DC 2020. [Paper] [Code]

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Optimization

Differentiable optimization-aided approaches

• "Learning to Sequence and Blend Robot Skills via Differentiable Optimization", RAL 2022. [Paper] [Code] [Video]

• "Differentiable MPC for End-to-end Planning and Control", NeurIPS 2018. [Paper] [Code]

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Citation

If you find this repository useful, please consider citing this list:

@misc{sharma2023differentiableroboticpaperslist,
    title = {Awesome Differentiable Optimization and Planning in Robotics},
    author = {Sharma, Vishnu Dutt and Tokekar, Pratap},
    journal = {GitHub repository},
    url = {https://github.com/raaslab/Awesome-Differentiable-Robotics},
    year = {2023},
}