Code and datasets

Explainability, fairness and ethics in robotics/AI

• Explainable road navigation (code for generating explanations of road navigation plans)
• MAPF map-based explanations (code for generating map-based explanations of MAPF plans)
• NavMesh explanations (code for generating explanations of path plan optimality in navigation meshes)
• Pedestrian detection bias (dataset of age and gender labels for the INRIA Person dataset)

Hierarchical planning and legged robots

• Hierarchical-planning-sequences (code for learning sequences of approximations for hierarchical motion planning)
• GaitMesh (code for assigning robot gaits to triangles of an environment mesh)
• Recast wrapper for ROS (code for multi-gait navigation meshes in ROS)
• LegOpt Benchmark (code for bechmarking biped posture/trajectory optimization)
• Destruction scenarios (environments for benchmarking robot locomotion)

Robot vision

• Friction-from-vision-cnn (code for predicting friction using CNNs)
• Friction-from-vision (dataset of human judgements, simple visual predictors, and ground-truth friction of different surfaces)