jc-bao / optimal-control-lecture-notesLinks
Lecture notes for CMU RI course 16-745 Optimal Control 2023. The lecture notes provided here have been organized to ensure a structured and comprehensive understanding.
☆41Updated last year
Alternatives and similar repositories for optimal-control-lecture-notes
Users that are interested in optimal-control-lecture-notes are comparing it to the libraries listed below
Sorting:
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆102Updated 2 months ago
- terrain-robustness benchmark for legged locomotion☆66Updated 2 years ago
- Model Predictive Control in JAX☆162Updated 3 weeks ago
- Quaternion Model Predictive Control for Legged Robots☆68Updated 3 months ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆62Updated 2 years ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆139Updated 6 months ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆143Updated 2 weeks ago
- ☆53Updated last year
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆68Updated last year
- ☆21Updated 3 months ago
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆143Updated 2 weeks ago
- Code for the IEEE Robotics and Automation Letters paper titled "Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planni…☆75Updated 9 months ago
- ☆30Updated 11 months ago
- Lecture notes for CMU 16715 Advanced Robot Dynamics.☆28Updated last year
- (RSS 2025) Flow Matching Ergodic Coverage☆48Updated 4 months ago
- Learning Model for Aggressive Jumping Maneuvers☆25Updated 9 months ago
- Open-source code for Neural Internal Model Control (Neural-IMC)☆38Updated 6 months ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆43Updated 4 months ago
- [IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrie…