RAPTOR: RAPid and Robust Trajectory Optimization for Robots
☆170May 17, 2025Updated 10 months ago
Alternatives and similar repositories for RAPTOR
Users that are interested in RAPTOR are comparing it to the libraries listed below
Sorting:
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆283Mar 12, 2026Updated last week
- ☆55Oct 26, 2024Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆43Jan 12, 2026Updated 2 months ago
- ☆335Updated this week
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- ☆27May 30, 2025Updated 9 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- PHLAME: Pseudo-spectral Heat fLow using the Affine geoMetric heat flow Equation☆14Jul 21, 2025Updated 8 months ago
- whole body control QP solver with full friction cones☆14Nov 5, 2024Updated last year
- Numerical Inverse Kinematics solver based on JAX + MJX☆146Jul 31, 2025Updated 7 months ago
- A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control☆142Nov 18, 2025Updated 4 months ago
- 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
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Feb 29, 2024Updated 2 years ago
- ☆121Sep 19, 2024Updated last year
- ☆108Mar 15, 2026Updated last week
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆440Mar 10, 2026Updated last week
- [ARCHIVED] Development continues at https://github.com/Simple-Robotics/aligator. [Old description] A primal-dual augmented Lagrangian sol…☆68Sep 26, 2025Updated 5 months ago
- A cross-platform real-time 3D renderer for robotics powered by SDL3-gpu☆38Mar 1, 2026Updated 3 weeks ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆78Sep 10, 2024Updated last year
- [RSS 2024] Code for Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres☆28Dec 3, 2024Updated last year
- Low-Complexity Inverse Kinematics☆104Updated this week
- Python inverse kinematics using Pinocchio and QP solvers☆704Mar 11, 2026Updated last week
- Sampling-based model predictive control on GPU with JAX/MJX☆256Updated this week
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆86Jun 17, 2025Updated 9 months ago
- A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems☆61Aug 31, 2025Updated 6 months ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆85Jan 20, 2026Updated 2 months ago
- A support library for bindings between Eigen in C++ and Python, based on nanobind☆19Updated this week
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆149Sep 9, 2025Updated 6 months ago
- Towards better athletic intelligence☆182Updated this week
- A distributed whole-body model predictive control for quadruped robots☆81Apr 22, 2025Updated 11 months ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆269Dec 27, 2025Updated 2 months ago
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆182Apr 14, 2025Updated 11 months ago
- Open Source Code for the IROS 2024 Paper☆216Sep 12, 2025Updated 6 months ago
- ☆41Mar 9, 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
- 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
- Quaternion Model Predictive Control for Legged Robots☆77Sep 11, 2025Updated 6 months ago
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆84Nov 25, 2024Updated last year
- 🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)☆289Updated this week