renjingc

navsim

NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking

DifferentiableOptimizationCBF

[IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions

qpax

Differentiable QP solver in JAX

DiffPlan

The official codebase for Symmetric Planning (ICLR'23) and Implicit Differentiable Planning (ICLR'23)

GameFormer-Planner

[ICCV & CVPR Workshop] Learning-enabled Interactive Prediction and Planning Framework for Autonomous Vehicles

differentiable-mpc

DCA

Differentiable Collision Avoidance

corrgen

A differentiable collision-free corridor generator.

DecisionPlanning

Contingency Model Predictive Control for Linear Time-Varying Systems; Interaction-Aware Game-Theoretic Motion Planning for Automated Vehicles using Bi-level Optimization

dpax

Differentiable collision detection for capsules in JAX.

DifferentiableAdaptiveGames.jl

Learning to Play Trajectory Games Against Opponents with Unknown Objectives: A differentiable adaptive game-theoretic planner that jointly infers players' objectives and solves for generalized Nash equilibrium trajectories, enabled by differentiating through a trajectory game solver.

DC3

DC3: A Learning Method for Optimization with Hard Constraints

diffstack

crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

A1-QP-MPC-Controller

An open source implementation of MIT Cheetah 3 controllers

quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

Cheetah-Software

ocs2

Optimal Control for Switched Systems

DifferentiableCollisions.jl

Differentiable collision detection for polytopes, capsules, cylinders, cones, spheres, and polygons.

legged_control

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

NMPC-DCLF-DCBF

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

cbf

An open source repository for control, planning and navigation about control barrier functions.

MPC-D-CBF

The code will soon be open source.

MPC-CBF

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

mpc-cbf

Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.

matplotlib-cpp

Extremely simple yet powerful header-only C++ plotting library built on the popular matplotlib

diff_epo_planner

Differentiable game-theoretic optimization integrated with neural networks for multi-agent prediction and control.

Implicit-SDF-Planner

[IROS 2023] Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization

ParkingMotionPlanningTITS21

Bai Li, Tankut Acarman, Youmin Zhang, et al., “Optimization-based trajectory planning for autonomous parking with irregularly placed obstacles: A lightweight iterative framework,” IEEE Transactions on Intelligent Transportation Systems, accepted on Aug. 27, 2021. https://doi.org/10.1109/TITS.2021.3109011