Stars
RAPTOR: RAPid and Robust Trajectory Optimization for Robots
Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent component of motion" in matlab
Model predictive control in Python based on quadratic programming
Walking controller based on variable-height inverted pendulum tracking
关于tube based MPC论文D. Q. Mayne, M. M. Seron, and S. V. Raković, “Robust model predictive control of constrained linear systems with bounded disturbances,” Automatica, vol. 41, no. 2, pp. 219–224, 20…
A fast and differentiable model predictive control (MPC) solver for PyTorch.
A nonlinear MPC framework for agile and versatile quadruped locomotion
STRIDE is a versatile bipedal robot platform for research and education
Matlab implementation of the paper "Predictive Safety Filter using System Level Synthesis"
Utility classes to check the (robust) equilibrium of a system in contact with the environment.
A library for using direct collocation in the optimization of dynamic systems.
Implementations of selected inverse reinforcement learning algorithms.
A general-purpose Python package for Koopman theory using deep learning.
AutoKoopman - automated Koopman operator methods for data-driven dynamical systems analysis and control.
Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.
Safe PDP with Tolerant Discrete Barrier States and DDP
Safe Pontryagin Differentiable Programming (Safe PDP) is a new theoretical and algorithmic safe differentiable framework to solve a broad class of safety-critical learning and control tasks.
Implement SLS MPC for linear systems subject to polytopic model uncertainty and additive disturbances.
Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated
Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
Isaac Gym Reinforcement Learning Environments
A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: [email protected]
强化学习中文教程（蘑菇书🍄），在线阅读地址：https://datawhalechina.github.io/easy-rl/