Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

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)

Model Predictive Control for Quadrotor using acados

Vehicle dynamics with a sophisticated friction model and drive-train model that can be used to augment any multi-body simulation (such as Gazebo) involving vehicles.

Code of the IV2025 paper "Dynamic Objective MPC for Motion Planning of Seamless Docking Maneuvers" Author: Oliver Schumann

Decentralized Tube-Based Model Predictive Controller. Master Thesis project 2024