tombelv / sbmpcView external linksLinks
A generic sampling-based MPC python library based on jax
☆36Jan 30, 2026Updated 2 weeks ago
Alternatives and similar repositories for sbmpc
Users that are interested in sbmpc are comparing it to the libraries listed below
Sorting:
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆44Jan 12, 2026Updated last month
- The official implementation of Residual-MPPI☆14Mar 22, 2025Updated 10 months ago
- Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach☆14Apr 1, 2020Updated 5 years ago
- Improving navigation in cluttered environments through movability awareness of blocking obstacles.☆18May 6, 2025Updated 9 months ago
- A pytorch implementation of Smooth Model Predictive Path Integral control (SMPPI)☆16Apr 18, 2024Updated last year
- (Modified to Free-Dog-SDK) Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls☆15Nov 6, 2023Updated 2 years ago
- A convex MPC locomotion controller implemented in MuJoCo with Unitree Go2 quadruped☆65Updated this week
- ☆20Feb 23, 2025Updated 11 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆69Dec 12, 2024Updated last year
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆120Nov 11, 2025Updated 3 months ago
- ☆30Jul 12, 2024Updated last year
- Kino-dynamic optimization algorithm for multiped robots☆47Oct 25, 2021Updated 4 years ago
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆24Sep 28, 2023Updated 2 years ago
- ☆326Jan 14, 2026Updated 3 weeks ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆25Apr 10, 2024Updated last year
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆18Jul 4, 2020Updated 5 years ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆25Feb 27, 2024Updated last year
- ☆22Dec 16, 2022Updated 3 years ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆57May 14, 2024Updated last year
- Mujoco environment to test GUFIC formulation☆28Oct 31, 2025Updated 3 months ago
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆26Oct 31, 2022Updated 3 years ago
- ☆33May 13, 2021Updated 4 years ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆148May 18, 2025Updated 8 months ago
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆42May 2, 2025Updated 9 months ago
- A planner designed for quadrotors in dynamic complex environments.☆42Apr 17, 2025Updated 9 months ago
- Control an inverted pendulum (Segway robot) with an Arduino & RaspberryPi☆26Mar 25, 2023Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- ☆11Sep 18, 2025Updated 4 months ago
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆66Dec 24, 2022Updated 3 years ago
- ☆118Feb 2, 2026Updated last week
- OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.☆138Nov 1, 2025Updated 3 months ago
- Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated☆330Aug 17, 2025Updated 5 months ago
- Official implementation of REArtGS (NeurIPS 2025)☆19Oct 24, 2025Updated 3 months ago
- Adaptive control for skid-steer robots using GP-enhanced MPPI for robust navigation and obstacle avoidance on diverse terrains.☆48Oct 27, 2025Updated 3 months ago
- PyTorch examples for the IEEE Robotics and Automation Letters paper titled "Biased-MPPI: Informing Sampling-Based Model Predictive Contro…☆43May 22, 2024Updated last year
- ☆11Mar 14, 2023Updated 2 years ago
- Compare Laguerre-based MPC and Traditional MPC for platoon of vehicles.☆13Feb 14, 2023Updated 3 years ago
- Two-Finger Parallel Gripper Open Source Project☆17Jan 16, 2025Updated last year
- ☆42Aug 23, 2023Updated 2 years ago