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)
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
Research code behind custom SAC, NMPC, VAEs and other stuff for machine-learning based autonomous ship trajectory planning. Developed as part of the Autoship Centre for Research-based Innovation (SFI).
Collection of different cross-compiling instructions, mostly for scientific packages and targetting embedded hardware.
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