TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPU

WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled LDLᵀ Factorization.

Systems Identification Package for PYthon

A test suite of direct optimal control problems

The Mini Wheelbot is a balancing, reaction wheel unicycle robot designed as a testbed for learning-based control. It is an unstable system with highly nonlinear yaw dynamics, non-holonomic driving,…

An efficient algorithm for heuristic online optimization of internal feedback laws in robust and stochastic model predictive control.

An efficient implementation of differentiable NMPC based on acados. Code to reproduce the results in our paper.

A prototypical implementation of a DDP solver for finding feasible trajectories in discrete-time optimal control

A fast algorithm that reliably computes solutions to optimization problems with complementarity constraints.

An unofficial interface from Julia to Acados going through Casadi using PyCall

Model-based Calibration of Multiple Injections for a CI engine

Python-CasADi-based package containing several algorithms for solving mixed-integer nonlinear programs (MINLPs)

Automatic Index Tracking for CasADi NLPs

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

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

A CasADi Python wrapper for the acados integrators.

Source Code Generation for Automatic Differentiation using Operator Overloading

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nosnoc is an open source software package for NOnSmooth Numerical Optimal Control.

Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.

Multiple shooting for computationally efficient train trajectory optimization