Augmented linear-quadratic motion planner

Differential Dynamic Programming python implementation for a cartpole system

ILQR controller acting on a two link arm model of the human arm to demonstrate reaching between points in a 2d plane

Model-based Policy Gradients

Thesis: Application of Reinforcement Learning for the Control of Nonlinear Dynamical Systems

Implementation of the real-time MPC based on iLQR in Carla simulator

Mujoco derivatives in python

WIP implementation of Probabilistic Differential Dynamic Programming in PyTorch

An implementation of model-predictive control algorithms using TensorFlow 2

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

Trajectory optimization for 2 degrees of freedom arm

A toolbox for trajectory optimization of dynamical systems

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Iterative LQG for a couple of MuJoCo models

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

Optimal Control via Combined Inference and Numerical Optimization

LQR and iLQR controllers for a 2D quadrotor.

Repository of Reinforcement Learning projects done during the course @sapienza

An optional control algorithm, iterative Linear Quadratic Regulator, implementation using Julia.

A Julia package for constrained iterative LQR (iLQR)