Fast and embedded solvers for nonlinear optimal control and nonlinear model predictive control
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
iterative Linear Quadratic Regulator with constraints.
Differential Dynamic Programming controller operating in OpenAI Gym environment.
Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control
Differential Dynamic Programming (DDP) with automatic symbolic differentiation
A toolbox for trajectory optimization of dynamical systems
Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on work deploying the algorithm onto robot hardware.
A Julia package for constrained iterative LQR (iLQR)
Guided policy search in Python and ROS Indigo.
Implementation of DDP algorithm for Optimal Control on a Bicycle Model for optimal lane change maneuvering and Skidpad track following.
WIP implementation of Probabilistic Differential Dynamic Programming in PyTorch
Project management and files related to my master's thesis on 'Highly-Dynamic Movements of a Humanoid Robot Using Whole-Body Trajectory Optimization'
C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI variants and Multiple Environments
Differential Dynamic Programming python implementation for a cartpole system
Optimal control solver implemented in Python. SymPy for symbolic differentiation and Numba for fast computation.
Design of a Differential dynamic programming (DDP) algorithm for the optimal control of a Ball and Beam system