A curated list of solvers/software/frameworksrelevant for dynamic optimiation

国家自然科学基金申请书正文（面上项目）LaTeX 模板（非官方）

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

The project page repository for Neural Categorical Priors for Physics-Based Character Control

Project Page for Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models

Code for the Paper- Parallel Rollout for Deterministic Optimal Control

OCP solver benchmark

SecondOrderPOC.jl - Formulating and solving optimal control problems in Julia.

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).

Library for nonconvex constrained optimization using the augmented Lagrangian method and the matrix-free PANOC algorithm.

A solver for nonlinear programming

SwitchTimeOpt.jl - Switching Time Optimization in Julia

Clarabel.rs: Interior-point solver for convex conic optimisation problems in Rust.

Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve a high numerical robustness.

Differentiable QP solver in JAX

Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.

A repository for enforcing CBF constraints between strictly convex sets.

Example implementation for robust model predictive control using tube

Clarabel.jl: Interior-point solver for convex conic optimisation problems in Julia.

The Simple Simulator: Simulation Made Simple

Repository for Robust Trajectory Optimization with Stochastic Complementarity

Tips for Writing a Research Paper using LaTeX

A Minimum Working Example for the Gauss-Newton-based Decomposition Algorithm for Nonlinear Mixed-Integer Optimal Control Problems