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Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"
An integrated humanoid control, planning and perception system. Developed by MIT and the University of Edinburgh for the Boston Dynamics Atlas and the NASA Valkyrie humanoid robots
Continuous Actor Critic algorithm with Trajectory Optimization
Supplementary resources for the textbook Engineering Design Optimization by Joaquim R. R. A. Martins and Andrew Ning
Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, JAXADi enables the creation of efficient code that runs smoot…
😎 A curated list of robotics libraries and software
Walking controller for humanoid robots based on inverted pendulum tracking
adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
Visualization of numerical optimization algorithms
This repository is an open-sourced code for the IROS 2024 paper.
Representation-Free Model Predictive Control for Dynamic Quadruped
Fast and embedded solvers for nonlinear optimal control
Algorithm and model experiments for robot motion planning. Implemented in Julia.
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
Conic Augmented Lagrangian Interior-Point SOlver
Model-based design and verification for robotics.
Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …
Dynamics, MPC, LQR, etc. One repo to rule them all.
Contact estimation for quadruped robots.
Claude Engineer is an interactive command-line interface (CLI) that leverages the power of Anthropic's Claude-3.5-Sonnet model to assist with software development tasks.This framework enables Claud…