This repo contains trajectory-optimisation on some basic systems (ex: pendulum,cartpole ,quadrotors and manipulators). Will be implementing algorithms like finite horizon LQR, iLQR and Box DDP
☆36Jan 26, 2026Updated 9 months ago
Alternatives and similar repositories for Trajectory-Optimization
Users that are interested in Trajectory-Optimization are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆14Mar 3, 2021Updated 5 years ago
- ☆72Mar 30, 2026Updated 7 months ago
- A quadratic programming based inverse kinematics method to simultaneously handle physical joint limits and whole-body collision avoidance…☆15Jan 21, 2026Updated 9 months ago
- This is a transformer-accelerated iterative linear quadratic regulator (iLQR-TF) framework.☆16Jun 1, 2026Updated 5 months ago
- Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation☆15Nov 10, 2025Updated 11 months ago
- GPUs on demand by Runpod - Special Offer Available • AdRun AI, ML, and HPC workloads on powerful cloud GPUs—without limits or wasted spend. Deploy GPUs in under a minute and pay by the second.
- simulation of quadcopter using pybullet (calculations) and pyqtgraph (visualisation)☆22Nov 7, 2024Updated last year
- Model-predictive control based on augmented Lagrangian☆39Jun 11, 2024Updated 2 years ago
- A MARL method for motion planning of free-floating space robot.☆37Mar 15, 2024Updated 2 years ago
- cppad+Ipopt demo以及OSQP demo程序☆13Nov 23, 2022Updated 3 years ago
- Tools for quick-and-dirty comparisons of popular robotics simulators☆13Aug 8, 2025Updated last year
- Differential Dynamic Programming (DDP) with automatic symbolic differentiation☆78Feb 8, 2023Updated 3 years ago
- ☆10Nov 25, 2022Updated 3 years ago
- BoundMPC: Cartesian Path Following with Error Bounds based on Model Predictive Control in the Joint Space☆16Mar 12, 2025Updated last year
- Diffusion policy for path planning☆14Apr 25, 2026Updated 6 months ago
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click. Zero configuration with optimized deployments.
- Benchmark comparisons of rigid-body dynamics simulators☆16Aug 20, 2024Updated 2 years ago
- ☆10Dec 1, 2023Updated 2 years ago
- Mujoco environment to test GUFIC formulation☆37Jun 9, 2026Updated 4 months ago
- LQR controller for quadrotors☆33Oct 12, 2020Updated 6 years ago
- Gazabo Experiments for the Paper: Adaptive Legged Locomotion via Online Learning for Model Predictive Control☆15Dec 7, 2025Updated 10 months ago
- Trajectory Optimization for Legged Robots by matlab and Casadi☆12Apr 8, 2024Updated 2 years ago
- 使用casadi的C++接口写的shooting/collocation轨迹优化示例代码☆61Nov 18, 2021Updated 4 years ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆48Oct 6, 2026Updated 3 weeks ago
- ☆23Dec 16, 2024Updated last year
- Managed Kubernetes at scale on DigitalOcean • AdDigitalOcean Kubernetes includes the control plane, bandwidth allowance, container registry, automatic updates, and more for free.
- ☆17Aug 20, 2026Updated 2 months ago
- ☆40Sep 19, 2023Updated 3 years ago
- ☆72Jun 26, 2022Updated 4 years ago
- Drone simulation using ROS, Gazebo and PX4☆24Dec 7, 2020Updated 5 years ago
- A distributed whole-body model predictive control for quadruped robots☆91Apr 22, 2025Updated last year
- Pytorch Lightning implementation of Neural Astar planner☆10Mar 27, 2022Updated 4 years ago
- nonlinear solver for the constrained problem☆21Jun 7, 2026Updated 4 months ago
- Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"☆239Dec 30, 2021Updated 4 years ago
- Force-conditioned reinforcement learning for contact-rich precision insertion in Isaac Lab.☆24Oct 26, 2026Updated last week
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆196May 18, 2025Updated last year
- Humanoid multi-contact motion controller☆48Feb 4, 2025Updated last year
- ☆14Aug 7, 2021Updated 5 years ago
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆18Jul 4, 2020Updated 6 years ago
- AHMP: Agile Humanoid Motion Planning with Contact Sequence Discovery☆42Feb 21, 2026Updated 8 months ago
- Mobile Manipulator(MM) Whole Body Control(WBC) for Dynamic Grasping for a Random Trajectory Object conditioned on Reachability☆21Dec 27, 2022Updated 3 years ago
- A C++ implementation of a Linear Quadratic Regulator (LQR) for optimal stabilization of a satellite attitude and angular rates.☆10Mar 12, 2021Updated 5 years ago