This is the repository for Step-MPPI

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

Data Center Chiller Plant Optimization via Mixed-Integer Nonlinear Differentiable Predictive Control paper webpage.

MPC-guided RL for Humanoid Locomotion and Manipulation

Differentiable Fluid Dynamics Package

A hard-constrained neural network framework that enforces nonlinear equality and inequality constraints via adaptive-depth neural projection.

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 in JAX

An RL-Gym for Challenge Problems in Data-Driven Modeling and Control of Fluid Dynamics.

Fully First-Order Differentiable Optimization

ICML 2026: Multi-Agent Differentiable Predictive Control for Zero-Shot Scalability

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

A library for soft differentiable relaxations of common PyTorch functions.

A library for soft differentiable relaxations of common JAX functions.

A differentiable optimization framework for learning to solve parametric bilevel programs, with applications to joint design and control

Efficient Differentiable n-d PDE Solvers in JAX.

A Learning-to-Optimize (L2O) package for Mixed-Integer Nonlinear Programming (MINLP)

Multi-Agent Differentiable Predictive Control for Zero-Shot PDE Scalability. Won the 1st place @ Tesseract Hackathon 2025

Plug-and-Play Benchmarking of Reinforcement Learning Algorithms for Large-Scale Flow Control

piMPC: A Parallel-in-horizon and Construction-free NMPC Solver

An intuitive modeling interface for infinite-dimensional optimization problems.

Universal components for differentiable scientific computing. 📦