hanntonkin

ilqr_cito

Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR

cito

A Contact-Implicit Trajectory Optimization Package

iLQR

iterative Linear Quadratic Regulator with constraints.

Dynamics-and-Control

Dynamics, MPC, LQR, etc. One repo to rule them all.

iLQG-MuJoCo

Iterative LQG for a couple of MuJoCo models

trajopt

A toolbox for trajectory optimization of dynamical systems

QuadrotorILQR

iLQR for a 3D quadrotor model

iLQR

Non-linear trajectory optimization via iLQR/DDP.

idto

Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control

PyomoSchool

Tutorials on trajectory optimization and Lagrange mechanics using sympy and Pyomo.

Bilevel-Planner

Trajectory Generator for MAV using Bilevel Optimization

ADMM

Implemented ADMM for solving convex optimization problems such as Lasso, Ridge regression

robotoc

Efficient optimal control solvers for robotic systems.

cdesign

tinympc-python

Python interactive interface for TinyMPC

quadrotor_trajectory

Generating minimum snap trajectories between waypoints for quadrotors

PPMControl

Controlling RC-transmitter with PPM trainer input using just sound card

Sequential-Action-Control

Software based side projects for PIs

iSAC_quadrotor

Application of iSAC to a quadrotor tracking a 3D figure eight trajectory

KoopmanLab

A library for Koopman Neural Operator with Pytorch.

koopman_learning_and_control

Repository for Koopman based learning and nonlinear control

rl-tools

A Fast, Portable Deep Reinforcement Learning Library for Continuous Control

gpt4-structured-reporting

NeuroMHE

Neural Moving Horizon Estimation (NeuroMHE) is an auto-tuning and adaptive optimal estimator. It fuses a nueral network with an MHE to render fast online adaptation to state-dependent noise. The neural network can be efficiently trained from the robot's trajectory tracking errors without the need for the ground truth data.

wedding-website

Our Wedding Website 👫

keunhong.github.io

Academic-project-page-template

A project page template for academic papers. Demo at https://eliahuhorwitz.github.io/Academic-project-page-template/

d2l-en

Interactive deep learning book with multi-framework code, math, and discussions. Adopted at 500 universities from 70 countries including Stanford, MIT, Harvard, and Cambridge.

ml-casadi

Use PyTorch Models with CasADi and Acados

snopt

Second-Order Neural ODE Optimizer, NeurIPS 2021 spotlight