plancherb1 / parallel-DDP
Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on work deploying the algorithm onto robot hardware.
☆44Updated last year
Alternatives and similar repositories for parallel-DDP:
Users that are interested in parallel-DDP are comparing it to the libraries listed below
- Code supporting the RAL paper "Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA"☆22Updated 3 years ago
- Differential Dynamic Programming (DDP) with automatic symbolic differentiation☆54Updated 2 years ago
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆29Updated 2 years ago
- A Fast Solver for Constrained Trajectory Optimization☆77Updated last year
- ☆50Updated 3 weeks ago
- ☆31Updated 4 years ago
- Differentiable Collision Avoidance☆23Updated 2 years ago
- ☆31Updated last year
- Model predictive control in Python based on quadratic programming☆38Updated this week
- A GPU Accelerated Quadratic Programming Solver for Model-Predictive Control☆50Updated this week
- Planning and Control Algorithms for Robotics☆60Updated 2 years ago
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆37Updated last year
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆52Updated 3 weeks ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆42Updated last year
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆51Updated 4 months ago
- Code accompanying the paper "Semi-Infinite Programming for Trajectory Optimization with Nonconvex Obstacles" by K. Hauser☆50Updated 4 years ago
- ☆74Updated last year
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- ☆27Updated 5 years ago
- A Contact-Implicit Trajectory Optimization Package☆42Updated last year
- A fast algorithm for finding an optimal path in a collection of safe boxes☆60Updated last month
- Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928☆61Updated 2 years ago
- Planner Developer Tools☆27Updated 6 months ago
- Collision detection benchmarks for the paper "Collision Detection Accelerated: An Optimization Perspective" published at RSS 2022☆25Updated 2 years ago
- ☆38Updated 6 years ago
- ☆14Updated 2 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆22Updated last month
- ☆18Updated last year
- Unified C++ interface for quadratic programming solvers☆56Updated last month
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆66Updated last year