qyshen's repositories
Algames.jl
ALGAMES: Game Theoretic Solver for Trajectory Optimization
BayesianOptimization
A Python implementation of global optimization with gaussian processes.
car-racing
A toolkit for testing control and planning algorithm for car racing.
DTPP
[ICRA 2024] Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning
ilqgames
Iterative Linear-Quadratic Games!
iLQGames.jl
Rapidly designing and solving differential games in Julia.
iLQR-DDP.
Non-linear trajectory optimization via iLQR/DDP.
iLQR_jax_racing
Autonomous racing using iLQR and JAX.
ISS
Intelligent Self-driving System
JAX-Controls-Quantum
Trajectory optimization (indirect with iLQR, direct with SQP), model predictive control, and additional tools for quantum optimal control.
liom_local_planner
ROS motion planning package based on LIOM (Light-weighted Iterative Optimization Method) approach
Motion-Planning-Using-Model-Predictive-Control
This repository is motion planning of autonomous driving using Model Predictive Control (MPC) based on CommonRoad Framework. We develop the algorithm with two tools, i.e., CasADi (IPOPT solver) and Forcespro (SQP solver), to solve the optimization problem. Finally, we used two use cases to evaluate our algorithms, i.e. lane following and collision
mppi_local_planner_xtensor
ROS1 with xtensor
mujoco_mpc
Real-time behaviour synthesis with MuJoCo, using Predictive Control
mynmpc
Nonlinear Model Predictive Control for Self-Driving Vehicles based on Local Sequential Quadratic Programming by recursively calling ProxQP solver.
nuplan-devkit
The devkit of the nuPlan dataset.
parallel-DDP
Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on work deploying the algorithm onto robot hardware.
path_optimizer_ilqr
Path planning for autonomous vehicles using constrained iLQR.
Risk-aware-contingency-planning-with-multi-modal-predictions
This repository includes the source code associated with the paper "RACP: Risk-Aware Contingency Planning with Multi-Modal Predictions".
some-solvers-for-numerical-optimization
This lib contains methods of line programming, feasible direction, quadratic programming, SQP and derivative-free algorithm. Using only C++ STL.
SQP-OptimalControls
Pendulum Trajectory Optimization using Sequential Quadratic Programming
sqpdfo
Sequential-Quadratic-Programming Derivative-Free Optimization
synergy-core
Open source core of Synergy, the cross-platform keyboard and mouse sharing tool (Windows, macOS, Linux)
TinyEKF
Lightweight C/C++ Extended Kalman Filter with Python for prototyping
tuplan_garage
[CoRL'23] Parting with Misconceptions about Learning-based Vehicle Motion Planning
Uno
A next-gen solver for nonlinearly constrained nonconvex optimization. Modular and lightweight, it unifies iterative methods (SQP vs interior points) and globalization techniques (filter method vs merit function, line search vs trust region method) in a single framework. Competitive against IPOPT, filterSQP, SNOPT, MINOS and CONOPT