Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Framework for dynamical system identification of floating-base rigid body tree structures

Differential Dynamic Programming (DDP) with automatic symbolic differentiation

PyTorch implementation of "Learning Stable Deep Dynamics Models" (https://papers.nips.cc/paper/9292-learning-stable-deep-dynamics-models), with extensions to controlled dynamical systems.

The official code of "Adversarial Counterfactual Environment Model Learning" (NeurIPS'23 spotlight)

A package for computing robot dynamics and dynamic related computations based on sympy