an intuitive optimization tool tailored to robotics, based on CasADi
☆84May 22, 2026Updated 3 weeks ago
Alternatives and similar repositories for horizon
Users that are interested in horizon are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆119Sep 30, 2025Updated 8 months ago
- ☆352Apr 1, 2026Updated 2 months ago
- adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.☆218May 18, 2026Updated 3 weeks ago
- Rigid transform using Lie groups and Dual Quaternions, written in CasADi!☆88Jul 15, 2025Updated 10 months ago
- ☆67Jun 1, 2026Updated last week
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- Suite of libraries for achieving bipedal locomotion on humanoid robots☆218Jun 3, 2026Updated last week
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,232Updated this week
- The Simple Simulator: Simulation Made Simple☆229Jan 7, 2026Updated 5 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆70Jul 5, 2024Updated last year
- iDynFor☆16Mar 14, 2024Updated 2 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆44Apr 7, 2025Updated last year
- An Open Source Task Solving library with Constraints☆127May 20, 2026Updated 3 weeks ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆159Sep 9, 2025Updated 9 months ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆52Updated this week
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- Tools for exploiting Morphological Symmetries in robotics☆106May 7, 2026Updated last month
- Fatrop is a nonlinear optimal control problem solver that aims to be fast, support a broad class of optimal control problems and achieve …☆299Jun 1, 2026Updated last week
- Python bindings for CppAD and CppADCodeGen using Boost.Python☆25Jan 12, 2026Updated 5 months ago
- Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, J…☆184Feb 23, 2025Updated last year
- ☆18Dec 6, 2023Updated 2 years ago
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆308Updated this week
- [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…☆69Sep 26, 2025Updated 8 months ago
- RBDL - Rigid Body Dynamics Library☆12Jul 27, 2022Updated 3 years ago
- Proton VPN Special Offer - Get 70% off • AdSpecial partner offer. Trusted by over 100 million users worldwide. Tested, Approved and Recommended by Experts.
- A distributed whole-body model predictive control for quadruped robots☆85Apr 22, 2025Updated last year
- TROPIC: TRajectory OPtimization In CasADi☆56May 16, 2021Updated 5 years ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆477May 4, 2026Updated last month
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆1,061Apr 17, 2023Updated 3 years ago
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆943Updated this week
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆31May 28, 2026Updated 2 weeks ago
- GPU-Accelerated Trajectory Optimization☆38May 30, 2026Updated 2 weeks ago
- ☆31May 30, 2025Updated last year
- A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems☆62Aug 31, 2025Updated 9 months ago
- Deploy open-source AI quickly and easily - Special Bonus Offer • AdRunpod Hub is built for open source. One-click deployment and autoscaling endpoints without provisioning your own infrastructure.
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆76Feb 29, 2024Updated 2 years ago
- Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusi…☆335Mar 27, 2025Updated last year
- eigen-qld allow to use the QLD QP solver with the Eigen3 library.☆17Jun 3, 2026Updated last week
- [IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275☆15Dec 29, 2022Updated 3 years ago
- C++ reimplementation of eiquadprog☆57Jun 2, 2026Updated last week
- C++ interface for hpipm, a high-performance interior point MPC solver☆107Apr 21, 2023Updated 3 years ago
- Suite of parametrized controller with simulation environments for co-design of Humanoid Robots☆26Nov 3, 2025Updated 7 months ago