wernerpe / csdecompLinks
CSDecomp implements GPU-accelerated collision checking for generating approximate convex decompositions of robot configuration space.
☆40Updated last month
Alternatives and similar repositories for csdecomp
Users that are interested in csdecomp are comparing it to the libraries listed below
Sorting:
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆37Updated last week
- Model Predictive Control in JAX☆76Updated 3 weeks ago
- SPARROWS: Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres☆25Updated 8 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆61Updated 7 months ago
- ☆19Updated 8 months ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆23Updated 2 months ago
- Python implementation of VP-STO☆45Updated 11 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆44Updated last year
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆158Updated 2 months ago
- Local Planner Bench☆53Updated 2 years ago
- Model predictive control in Python based on quadratic programming☆44Updated 2 months ago
- ☆41Updated 9 months ago
- (RSS 2025) Flow Matching Ergodic Coverage☆26Updated 2 weeks ago
- Learning-based Initialization of Trajectory Optimization for Path-following Problems of Redundant Manipulators (ICRA23)☆19Updated 2 years ago
- Generative Predictive Control☆35Updated 3 months ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆61Updated 4 months ago
- Quaternion Model Predictive Control for Legged Robots☆60Updated 10 months ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆41Updated this week
- Low-Complexity Inverse Kinematics☆82Updated 3 weeks ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆101Updated 2 months ago
- GPU-Parallel RRT-Connect☆36Updated last month
- Optimization fabrics for behavior design☆76Updated 6 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆40Updated 3 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆51Updated 2 years ago
- Differentiable Collision Avoidance☆24Updated 3 years ago
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 8 months ago
- Tools for quick-and-dirty comparisons of popular robotics simulators☆12Updated 4 months ago
- Planning and Control Algorithms for Robotics☆63Updated 2 years ago
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆30Updated 2 years ago
- Repository associated with the paper "Whole-Body Trajectory Optimization for Robot Multimodal Locomotion".☆23Updated last year