Direct Trajectory Optimization in JAX

Quaternion Model Predictive Control for Legged Robots

程序员在家做饭方法指南。Programmer's guide about how to cook at home (Simplified Chinese only).

Set of robot URDFs for benchmarking and developed examples.

A differentiable collision-free corridor generator.

Proximal Policy Optimization (PPO) written in C++ with PyTorch (LibTorch)

A simple JAX-based implementation of random search for locomotion tasks using MuJoCo XLA (MJX).

Differentiable QP solver in JAX

Code for "From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers"

quick and dirty Ipopt interface

Pytorch Implementation of TinyMPC

Julia bindings and visualiser for the MuJoCo physics engine.

Code for PPR: Physically Plausible Reconstruction from Monocular Videos (ICCV 23).

A framework for 4D reconstruction from monocular videos.

Example files for the article "How Kalman Filters Work".

A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control

A GPU Accelerated Quadratic Programming Solver for Model-Predictive Control

Model-predictive control for microcontrollers

Sim-to-real RL training and deployment tools for the Unitree Go1 robot.

This repo contains the differentiable physics simulation module in "PPR: Physically Plausible Reconstruction from Monocular Videos". ICCV 23.

MIT IAP short course: Matrix Calculus for Machine Learning and Beyond

Differentiable ADMM splitting method for convex quadratic programming in pytorch

Motion Imitation from Casual Videos for Legged Robots

QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES