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.
☆33Updated 7 months ago
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:
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆59Updated last week
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆71Updated 2 weeks ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆41Updated 2 months ago
- [IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrie…☆30Updated 2 months ago
- Lecture notes for CMU 16715 Advanced Robot Dynamics.☆28Updated 8 months ago
- Learning Model for Aggressive Jumping Maneuvers☆16Updated 3 months ago
- ☆17Updated 3 months ago
- ☆25Updated 5 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆44Updated last year
- Quaternion Model Predictive Control for Legged Robots☆50Updated 8 months ago
- Lecture Slides, Personal Notes, Homework Solutions and Codes for ESE 619: Model Predictive Control 2023 Spring @ UPenn☆42Updated last year
- terrain-robustness benchmark for legged locomotion☆54Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆102Updated 11 months ago
- A simple demo of imitation learning based on diffusion policy for quadrotor control☆24Updated 8 months ago
- Quadruped Tasks extension based on Isaac Lab.☆37Updated last month
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆15Updated 4 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆25Updated last month
- ☆33Updated 2 years ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆49Updated 2 years ago
- Repository for the IJRR paper "Generalizable whole-body global manipulation of deformable linear objects by dual-arm robot in 3-D constra…☆26Updated 7 months ago
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆92Updated last month
- Code for the paper "Deep Model Predictive Optimization"☆25Updated last year
- Code for the IEEE Robotics and Automation Letters paper titled "Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planni…☆62Updated 3 months ago
- ☆99Updated last year
- ☆9Updated last year
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆53Updated 5 months ago
- [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains☆58Updated 11 months ago
- Safe Planning with Diffusion Probabilistic Models☆28Updated last month
- Open-source code for Neural Internal Model Control (Neural-IMC)☆19Updated 2 months ago
- ☆37Updated 7 months ago