Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Implementation of the real-time MPC based on iLQR in Carla simulator

Open Source Optimization of Dynamic Multidisciplinary Systems

Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dynamics model to run the reverse denoising process to generate high-quality trajectories.

Curvature Corrected Moving Average: An accurate and model-free path smoothing algorithm.

iterative Linear Quadratic Regulator with constraints.

NASA's aircraft analysis, design, and optimization tool

A toolkit for testing control and planning algorithm for car racing.

A unified end-to-end learning and control framework that is able to learn a (neural) control objective function, dynamics equation, control policy, or/and optimal trajectory in a control system.

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.

Trajectory optimization algorithms for robotic control.

Trajectory Planning and control

Implementing trajectory optimization on bipedal system

Model Predictive Control of a Flappy Bird Clone using Mixed Integer Programming

A pseudo-spectral collocation based multi-phase Optimal control problem solver

Differential Dynamic Programming (DDP) with automatic symbolic differentiation

A toolbox for trajectory optimization of dynamical systems

Functions and classes for gradient-based robot motion planning, written in Ivy.

pyobca is a python implement of Optimization-Based Collision Avoidance path optimization (OBCA) algorithm

Python implementation of VP-STO