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
- ☆48Updated this week
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆29Updated last year
- Differential Dynamic Programming (DDP) with automatic symbolic differentiation☆52Updated 2 years ago
- Differentiable Collision Avoidance☆23Updated 2 years ago
- ☆31Updated last year
- A Fast Solver for Constrained Trajectory Optimization☆77Updated last year
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆36Updated last year
- ☆30Updated 4 years ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆42Updated last year
- Model predictive control in Python based on quadratic programming☆37Updated last week
- Differentiable collision detection for capsules in JAX.☆42Updated last year
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆50Updated last week
- ☆27Updated 5 years ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆47Updated 3 months ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- A GPU Accelerated Quadratic Programming Solver for Model-Predictive Control☆49Updated 6 months ago
- A Contact-Implicit Trajectory Optimization Package☆42Updated last year
- ☆14Updated 2 years ago
- A GPU accelerated library for computing rigid body dynamics with analytical gradients☆102Updated last year
- Learning Drake from the perspective of a robotics beginner.☆41Updated 10 months ago
- A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.☆62Updated last week
- Planning and Control Algorithms for Robotics☆60Updated 2 years ago
- CppADCodeGen with an easy Eigen interface and Python bindings.☆15Updated 2 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆66Updated last year
- Unified C++ interface for quadratic programming solvers☆55Updated last week
- ☆38Updated 6 years ago
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆10Updated last year
- ☆73Updated last year
- Kino-dynamic optimization algorithm for multiped robots☆44Updated 3 years ago