simeon-ned / darli
Differentiable Articulated Robotics Library (DARLi)
☆25Updated 5 months ago
Alternatives and similar repositories for darli:
Users that are interested in darli are comparing it to the libraries listed below
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆48Updated last week
- ☆44Updated 3 months ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆76Updated this week
- Model predictive control in Python based on quadratic programming☆35Updated last month
- Control Barrier Functions in Python and Jax☆93Updated this week
- System identification with MuJoCo☆46Updated last month
- Learning Drake from the perspective of a robotics beginner.☆41Updated 10 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆64Updated 11 months ago
- Simplified robot description of the ANYmal C quadrupedal robot.☆64Updated last year
- Planning and Control Algorithms for Robotics☆59Updated 2 years ago
- ☆35Updated 4 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆44Updated 2 months ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆100Updated 2 months ago
- Header-only C++ library containing controllers designed for Lie Groups.☆64Updated last month
- Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4…☆121Updated 9 months ago
- Low-Complexity Inverse Kinematics☆74Updated last month
- ☆32Updated 3 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆81Updated this week
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆49Updated last year
- Local Planner Bench☆50Updated last year
- Differential Dynamic Programming (DDP) with automatic symbolic differentiation☆48Updated 2 years ago
- ICRA 2022 paper☆33Updated 5 months ago
- Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)☆112Updated 4 months ago
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆29Updated last year
- ☆73Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆26Updated this week
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆32Updated 2 years ago
- Reinforcement learning framework from RSL for policy training with RaiSim.☆54Updated 2 years ago
- Adaptive importance sampling modification to MPPI☆89Updated 10 months ago
- ☆51Updated last year