acados/acados

Fast and embedded solvers for nonlinear optimal control and nonlinear model predictive control

Language: C - Size: 43.6 MB - Last synced at: 2 days ago - Pushed at: 2 days ago - Stars: 1,005 - Forks: 275

astomodynamics/cddp-cpp

Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

Language: C++ - Size: 48.1 MB - Last synced at: 4 days ago - Pushed at: 5 days ago - Stars: 74 - Forks: 14

loco-3d/crocoddyl

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

Language: C++ - Size: 22.9 MB - Last synced at: 8 days ago - Pushed at: 8 days ago - Stars: 994 - Forks: 192

Bharath2/iLQR

iterative Linear Quadratic Regulator with constraints.

Language: Python - Size: 1.36 MB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 206 - Forks: 43

neka-nat/ddp-gym

Differential Dynamic Programming controller operating in OpenAI Gym environment.

Language: Python - Size: 98.6 KB - Last synced at: 3 months ago - Pushed at: about 5 years ago - Stars: 87 - Forks: 22

thowell/IterativeLQR.jl

A Julia package for constrained iterative LQR (iLQR)

Language: Julia - Size: 101 KB - Last synced at: about 22 hours ago - Pushed at: over 2 years ago - Stars: 43 - Forks: 14

hanyas/tox

Language: Python - Size: 103 KB - Last synced at: 7 months ago - Pushed at: about 2 years ago - Stars: 5 - Forks: 1

MC00614/mppi_ipddp_cpp

C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI variants and Multiple Environments

Language: C++ - Size: 1.38 MB - Last synced at: 10 months ago - Pushed at: 10 months ago - Stars: 0 - Forks: 0

anassinator/ilqr

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Language: Python - Size: 1.33 MB - Last synced at: 11 months ago - Pushed at: almost 3 years ago - Stars: 358 - Forks: 78

vtfanta/DDP-example

A very short script implementing the plain differential dynamic programming (DDP) I have created to teach myself about the technique.

Language: Julia - Size: 4.88 KB - Last synced at: 11 months ago - Pushed at: 11 months ago - Stars: 0 - Forks: 0

aleegeco/Bicycle-model-Optimal-Control

Implementation of DDP algorithm for Optimal Control on a Bicycle Model for optimal lane change maneuvering and Skidpad track following.

Language: MATLAB - Size: 25.4 MB - Last synced at: over 1 year ago - Pushed at: almost 3 years ago - Stars: 12 - Forks: 2

arcuma/ocpy

Optimal control solver implemented in Python. SymPy for symbolic differentiation and Numba for fast computation.

Language: Python - Size: 680 KB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

anassinator/pddp

WIP implementation of Probabilistic Differential Dynamic Programming in PyTorch

Language: Jupyter Notebook - Size: 6.56 MB - Last synced at: almost 2 years ago - Pushed at: over 4 years ago - Stars: 13 - Forks: 2

hanyas/trajopt

A toolbox for trajectory optimization of dynamical systems

Language: Python - Size: 1.22 MB - Last synced at: about 2 years ago - Pushed at: about 3 years ago - Stars: 41 - Forks: 13

gabrielnan/ddp

Differential Dynamic Programming python implementation for a cartpole system

Language: Python - Size: 1.08 MB - Last synced at: about 2 years ago - Pushed at: over 7 years ago - Stars: 4 - Forks: 3

imgeorgiev/ddp

Differential Dynamic Programming (DDP) with automatic symbolic differentiation

Language: Python - Size: 921 KB - Last synced at: over 2 years ago - Pushed at: over 2 years ago - Stars: 0 - Forks: 1

robotsorcerer/gps

Guided policy search in Python and ROS Indigo.

Language: Python - Size: 693 MB - Last synced at: over 2 years ago - Pushed at: over 7 years ago - Stars: 23 - Forks: 2

plancherb1/parallel-DDP

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.

Language: Cuda - Size: 878 KB - Last synced at: almost 2 years ago - Pushed at: over 5 years ago - Stars: 17 - Forks: 7

psh117/husky_control_ilqg

Language: C++ - Size: 16.6 KB - Last synced at: over 2 years ago - Pushed at: over 6 years ago - Stars: 3 - Forks: 3

julesser/ma-thesis

Project management and files related to my master's thesis on 'Highly-Dynamic Movements of a Humanoid Robot Using Whole-Body Trajectory Optimization'

Language: TeX - Size: 376 MB - Last synced at: over 2 years ago - Pushed at: over 4 years ago - Stars: 2 - Forks: 0