Judo: a hackable sampling-based MPC toolbox

Gaussian Processes for Experimental Sciences

This repository implements Motion Planning Diffusion (MPD) - a method for learning and planning robot motions with diffusion models.

Safety-critical controllers for single/multi robotic navigation: CBF-QP, MPC-CBF, and etc.

GPU-accelerated robotics (CUDA + C++)

Vec-QMDP: A high-performance, CPU-native vectorized POMDP planner for real-time autonomous driving, leveraging SIMD acceleration and Data-Oriented Design.

Plotly for C++. A C++ interface to the Plotly.js figure spec, for creating interactive data visualizations.

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

NVIDIA curated collection of educational resources related to general purpose GPU programming.

Implementation of numerical solvers used in the Machines in Motion Laboratory

Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)

Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

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.

A library for differentiable nonlinear optimization

With Uno, finally take full control of your SQP/barrier solver for nonlinearly constrained optimization

[ICML 2024] Potential Based Diffusion Motion Planning

LBFGS-Lite: A header-only L-BFGS unconstrained optimizer.

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

An MPC Motion Planner in ROS/C++

A toolkit for making real world machine learning and data analysis applications in C++

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained …

The Advanced Proximal Optimization Toolbox

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance

Universal Trajectory Optimization Framework for Differential Drive Robot Class

A header-only C++ library for numerical optimization --

Design pattern demo code

Iterative Linear-Quadratic Games!

A complete Linux application software development tool library and runtime framework, aim at make C++ development easy.