a lightweight header-only C++17 library of numerical optimization methods for (un-)constrained nonlinear functions and expression templates

Incremental Potential Contact (IPC) is for robust and accurate time stepping of nonlinear elastodynamics. IPC guarantees intersection- and inversion-free trajectories regardless of materials, time-step sizes, velocities, or deformation severity.

A highly customizable SQP & barrier solver for nonlinearly constrained optimization

Generic Constraint Development Environment

OptCuts, a new parameterization algorithm, jointly optimizes arbitrary embeddings for seam quality and distortion. OptCuts requires no parameter tuning; automatically generating mappings that minimize seam-lengths while satisfying user-requested distortion bounds.

Source Codes for Codimensional Incremental Potential Contact (C-IPC)

HPC solver for nonlinear optimization problems

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.

A compact Constrained Model Predictive Control (MPC) library with Active Set based Quadratic Programming (QP) solver for Teensy4/Arduino system (or any real time embedded system in general)

Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

A C++ Constraint Programming Library

Implementation of the paper "Improving Optimization Bounds using Machine Learning: Decision Diagrams meet Deep Reinforcement Learning".

Derivative-free nonlinear global optimizer with python interface

L-BFGS-B as a C++ header-only library

Library for nonconvex constrained optimization using the augmented Lagrangian method and the matrix-free PANOC algorithm.

Powerful and scalable black-box optimization algorithms for Python and C++.

Trajectory Optimization using Augment Lagrangian and iLQR

Constrained multi-objective derivative-free global solver

Leopard is a fast, modern implementation of sparse, multifrontal symmetric indefinite matrix factorization.