Control Barrier Functions in Python and Jax
☆153Feb 5, 2026Updated last month
Alternatives and similar repositories for cbfpy
Users that are interested in cbfpy are comparing it to the libraries listed below
Sorting:
- Safe, high-performance, and task-consistent manipulator control☆173Feb 17, 2026Updated last month
- Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, J…☆178Feb 23, 2025Updated last year
- Sampling-based model predictive control on GPU with JAX/MJX☆256Updated this week
- [IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrie…☆37Mar 8, 2025Updated last year
- Judo: a hackable sampling-based MPC toolbox☆236Mar 3, 2026Updated 2 weeks ago
- (RSS 2025) Flow Matching Ergodic Coverage☆52Jul 16, 2025Updated 8 months ago
- GPU-friendly, auto-differentiable LQR solver with JAX.☆216Aug 8, 2025Updated 7 months ago
- Differentiable QP solver in JAX☆135Mar 9, 2026Updated last week
- SIMD-Accelerated Sampling-based Motion Planning☆365Updated this week
- [IROS'25] Learning to Initialize Trajectory Optimization for Vision-Based Autonomous Flight in Unknown Environments☆27Jan 8, 2026Updated 2 months ago
- Differentiable collision detection for capsules in JAX.☆52Dec 2, 2023Updated 2 years ago
- Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)☆261Mar 4, 2026Updated 2 weeks ago
- Model Predictive Control in JAX☆179Feb 13, 2026Updated last month
- Pytorch re-implementation of the paper "Multi-agent path integral control for interaction-aware motion planning in urban canals" by Lucas…☆18May 17, 2024Updated last year
- ☆335Updated this week
- Model predictive path integral control in jax☆17Feb 8, 2026Updated last month
- Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4…☆140May 22, 2024Updated last year
- Training and testing scripts for the prediction model used in the "Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictio…☆21Nov 14, 2023Updated 2 years ago
- adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.☆212Updated this week
- Kinematic and dynamic models of continuum and articulated soft robots.☆16Nov 22, 2025Updated 3 months ago
- Numerical Inverse Kinematics solver based on JAX + MJX☆146Jul 31, 2025Updated 7 months ago
- Project Code for the paper "A Learning-based Quadcopter Controller with Extreme Adaptation"☆79Jun 10, 2025Updated 9 months ago
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆283Mar 12, 2026Updated last week
- Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusi…☆330Mar 27, 2025Updated 11 months ago
- Low-Complexity Inverse Kinematics☆103Mar 10, 2026Updated last week
- ☆47Jun 10, 2024Updated last year
- Python inverse kinematics using Pinocchio and QP solvers☆704Mar 11, 2026Updated last week
- ☆58Updated this week
- ROS package for autonomous navigation of AGVs in unknown cluttered environments using U-MPPI☆46Jan 31, 2025Updated last year
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆945May 28, 2025Updated 9 months ago
- (T-RO, ICRA 2024) Tutorials on ergodic control and more☆50Jun 9, 2025Updated 9 months ago
- Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.☆186Dec 24, 2022Updated 3 years ago
- Official Implementation of ICLR2025 Paper: Songyuan Zhang, Oswin So, Mitchell Black, Chuchu Fan: "Discrete GCBF Proximal Policy Optimizat…☆25May 14, 2025Updated 10 months ago
- A multirotor simulator with aerodynamics for education and research.☆239Mar 14, 2026Updated last week
- Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.☆561Jun 5, 2025Updated 9 months ago
- Fast QP Solver in JAX☆29Aug 29, 2024Updated last year
- MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices☆99Jan 29, 2026Updated last month
- gym environment for drone 2D active perception in dynamic environment☆15Feb 9, 2026Updated last month
- A high-fidelity simulation backend for Franka robots that implements the complete libfranka API. Develop and test your robot control appl…☆77Jan 11, 2026Updated 2 months ago