Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR
☆18Jul 4, 2020Updated 5 years ago
Alternatives and similar repositories for ilqr_cito
Users that are interested in ilqr_cito are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- A Contact-Implicit Trajectory Optimization Package☆56Sep 22, 2023Updated 2 years ago
- Differential Dynamic Programming and Iterative LQR in Drake☆81Jun 10, 2024Updated last year
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆164Dec 14, 2022Updated 3 years ago
- A global path planner for quadruped robots which considers slope of the terrain as constraint☆19Feb 13, 2026Updated 3 months ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆45Apr 16, 2026Updated last month
- AI Agents on DigitalOcean Gradient AI Platform • AdBuild production-ready AI agents using customizable tools or access multiple LLMs through a single endpoint. Create custom knowledge bases or connect external data.
- ILQR and MPC Control of Swarms using Random Finite Set Theory☆13Mar 6, 2020Updated 6 years ago
- Contact Planning for Object Manipulation via Monte Carlo Tree Search☆14May 13, 2023Updated 3 years ago
- ☆18Sep 16, 2022Updated 3 years ago
- ☆18Mar 2, 2025Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆70Jul 5, 2024Updated last year
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆24Sep 28, 2023Updated 2 years ago
- Implementation of the sl1m solver for multi contact planning☆21Oct 1, 2025Updated 7 months ago
- Learning Model for Aggressive Jumping Maneuvers☆31Mar 5, 2025Updated last year
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆159Sep 9, 2025Updated 8 months ago
- Local planners for ground robots☆34Mar 3, 2025Updated last year
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆24May 20, 2025Updated last year
- ☆16Mar 24, 2026Updated 2 months ago
- Matlab iLQR class which will solve for the optimal set of inputs and gains to get to a desired state☆27Dec 21, 2023Updated 2 years ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆25Apr 10, 2024Updated 2 years ago
- Software stack for MAB and Unitree Quadrupeds☆26Oct 26, 2025Updated 7 months ago
- Implementation of PegasusFlow: Parallel Rolling-Denoising Score Sampling for Robot Diffusion Planner Flow Matching☆19Sep 18, 2025Updated 8 months ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆26Feb 27, 2024Updated 2 years ago
- Simple, predictable pricing with DigitalOcean hosting • AdAlways know what you'll pay with monthly caps and flat pricing. Enterprise-grade infrastructure trusted by 600k+ customers.
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆66Dec 10, 2022Updated 3 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆76Feb 29, 2024Updated 2 years ago
- Environments for training quadruped robots in Isaac Orbit with Reinforcement Learning.☆10Mar 16, 2025Updated last year
- nonlinear solver for the constrained problem☆21Sep 18, 2023Updated 2 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆55Jul 29, 2025Updated 10 months ago
- i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246☆21Mar 18, 2024Updated 2 years ago
- [ICRA 2026] Robust Differentiable Collision Detection for General Objects☆41May 21, 2026Updated last week
- Quaternion Model Predictive Control for Legged Robots☆78Sep 11, 2025Updated 8 months ago
- ☆29May 30, 2025Updated 11 months ago
- Managed Kubernetes at scale on DigitalOcean • AdDigitalOcean Kubernetes includes the control plane, bandwidth allowance, container registry, automatic updates, and more for free.
- C++ implementation with Python bindings of analytic forward and inverse kinematics for the Universal Robots.☆20Jan 5, 2026Updated 4 months ago
- Source code for ST-VIO (Li, H., Stueckler, J.): "Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with …☆17Jul 15, 2024Updated last year
- book lists from a robot engineer☆42May 9, 2025Updated last year
- A ROS interface to FCL collision checking☆23Jan 28, 2025Updated last year
- whole body control QP solver with full friction cones☆14Nov 5, 2024Updated last year
- A generic sampling-based MPC python library based on jax☆41Jan 30, 2026Updated 3 months ago
- ☆12Mar 11, 2019Updated 7 years ago