ilqr

There are 3 repositories under ilqr topic.

control-toolbox
ethz-adrl / control-toolbox
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
automatic-differentiation control-systems cpp disturbance-observer extended-kalman-filter ilqg ilqr lqr-controller model-predictive-control multiple-shooting optimal-control riccati-solver rigid-body-dynamics robotics trajectory-optimization
Language:C++ 1356
Shunichi09 / PythonLinearNonlinearControl
PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.
cem ddp ilqr linear-control model-based-rl model-predictive-control mpc mppi nmpc nonlinear-control optimal-control reinforcement-learning
Language:Python 810
anassinator / ilqr
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
auto-differentiation cartpole control-systems ddp differential-dynamic-programming dynamics-models ilqg ilqr model-predictive-control model-predictive-controller mpc mpc-control non-linear-optimization optimal-control pendulum theano trajectory-optimization trajectory-tracking
Language:Python 342
YukunXia / Carla_iLQR_MPC
Implementation of the real-time MPC based on iLQR in Carla simulator
ilqr carla mpc self-driving-car autonomous-vehicles trajectory-optimization jax
Language:Python 232
iLQR
Bharath2 / iLQR
iterative Linear Quadratic Regulator with constraints.
mpc ilqr ilqg nonlinear-optimization trajectory-optimization ddp model-predictive-controller numba optimal-control mpc-control dynamics control-systems differential-dynamic-programming pendulum vehicle-control robotics control sympy sympy-to-numba quadrotor
Language:Python 117
guzhaoyuan / Dynamics-and-Control
Dynamics, MPC, LQR, etc. One repo to rule them all.
ilqr lqr dynamics
94
MahanFathi / iLQG-MuJoCo
Iterative LQG for a couple of MuJoCo models
mujoco ilqg ilqr lqr lqg ilqg-mujoco hopper optimal-control mujoco-py reinforcement-learning rllab
Language:C++ 59
hanyas / trajopt
A toolbox for trajectory optimization of dynamical systems
trajectory-optimization optimal-control guided-policy-search differential-dynamic-programming lqr model-predictive-control pendulum cartpole double-catpole belief-space ilqr motion-planning mpc ddp nonlinear-optimization nonlinear-dynamics control-systems iterative-linear-quadratic iterative-lqr
Language:Python 47
thowell / IterativeLQR.jl
A Julia package for constrained iterative LQR (iLQR)
optimization motion-planning trajectory-optimization differential-dynamic-programming robotics control ilqr
Language:Julia 38
plancherb1 / 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.
gpu cuda gpu-acceleration model-predictive-control differential-dynamic-programming ilqr
Language:Cuda 35
MahanFathi / Model-Based-RL
Model-based Policy Gradients
model-based reinforcement-learning backpropagation mujoco mujoco-py finite-difference computational-graphs pytorch gym openai-gym ilqg direct-policy-search policy-optimization policy-gradient ilqg-mujoco ilqr mujoco-dynamics policy-gradients computation-graph
Language:Python 29
thiagopbueno / tf-mpc
An implementation of model-predictive control algorithms using TensorFlow 2
model-predictive-control mpc lqr ilqr tensorflow2
Language:Python 18
astomodynamics / CDDP-cpp
Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control
constrained-optimization cpp ddp differential-dynamic-programming model-predictive-control mpc nonlinear-programming trajectory-optimization eigen motion-planning robot ros ilqr iterative-linear-quadratic
Language:C++ 16
anassinator / pddp
WIP implementation of Probabilistic Differential Dynamic Programming in PyTorch
artificial-intelligence bayesian-neural-networks cartpole ddp deep-reinforcement-learning differential-dynamic-programming double-pendulum dynamics-models gaussian-processes ilqg ilqr model-predictive-control mpc pddp pendulum probabilistic-programming pytorch robotics trajectory-optimization uncertainty
Language:Jupyter Notebook 14
mpritzkoleit / pygent
Thesis: Application of Reinforcement Learning for the Control of Nonlinear Dynamical Systems
ddpg pytorch ilqr nfq control-systems reinforcement-learning
Language:Python 13
nitishthatte / QuadrotorILQR
iLQR for a 3D quadrotor model
control-systems dynamics-models ilqr quadcopter quadrotor trajectory-optimization
Language:C++ 13
parkerowan / libsia
SIA - C++/Python library for model-based stochastic estimation and optimal control
ekf kalman-filter model-predictive-control mpc control estimation gaussian-mixtures gaussian-processes gmm gmr gpr ilqr lqr mppi particle-filter real-time reinforcement-learning
Language:C++ 13
HalukErdogan / ilqr
ILQR (Iterative Linear Quadratic Regulator)
ilqr model-predictive-control optimal-control trajectory-optimization
Language:C++ 9
gabrielnan / ddp
Differential Dynamic Programming python implementation for a cartpole system
controls robotics differential-dynamic-programming ilqr
Language:Python 6
jagennath-hari / Control-of-a-2D-Quadrotor-for-Acrobatic-Maneuvers
LQR and iLQR controllers for a 2D quadrotor.
controller ilqr lqr-controller optimal-control python quadrotor simulation
Language:Jupyter Notebook 5
wecacuee / mujoco_py_deriv
Mujoco derivatives in python
gym mujoco dynamics ilqr reinforcement-learning control
Language:C 5
elena-ecn / iLQR
Non-linear trajectory optimization via iLQR/DDP.
ilqr optimal-control optimization ddp
Language:Python 4
arcuma / ocpy
Optimal control solver implemented in Python. SymPy for symbolic differentiation and Numba for fast computation.
cartpole ddp differential-dynamic-programming ilqr optimal-control python model-predictive-control mpc nmpc nonlinear-model-predictive-control numba sympy
Language:Python 3
Daniellayeghi / OptimisationBasedControl
Optimal Control via Combined Inference and Numerical Optimization
ilqr mppi openmp
Language:C++ 3
Filip7B / iLQR-DDP
Trajectory optimization for 2 degrees of freedom arm
control ddp ilqr nonlinear-control trajectory-optimization
Language:MATLAB 3
mgmike1011 / tswr_awsim
MPC, iLQR, Stanley, Pure Pursuit Controllers in AWSIM using ROS2
ilqr mpc-control purepursuit ros2-humble stanley-controller awsim
Language:Python 3
DMackRus / TrajOptKP
Gradient-based trajectory optimisation toolbox that speeds up trajectory optimisation by only computing dynamics derivatives at key-points with finite-differencing. Remainder of derivatives are approximated via interpolation.
ilqr trajectory-optimisation non-prehensile
Language:C++ 2
jnez71 / aLQR
Augmented linear-quadratic motion planner
ddp ilqr motion-planning
Language:Python 2
andgoldschmidt / JAX-Controls-Quantum
Trajectory optimization (indirect with iLQR, direct with SQP), model predictive control, and additional tools for quantum optimal control.
iterative-learning-control quantum-control model-predictive-control quantum-optimal-control trajectory-optimization ilqr sqp
Language:Python 1
astomodynamics / julia-iLQR
An optional control algorithm, iterative Linear Quadratic Regulator, implementation using Julia.
path-planning ilqr julia optimal-control
Language:Julia 1
giulio-derasmo / Reinforcement-Learning-Projects
Repository of Reinforcement Learning projects done during the course @Sapienza
a2c ilqr policy-iteration reinforcement-learning sarsa-lambda td-lambda
Language:Python 1
raklokesh / ILQR_TwoLinkArm_Reaching
ILQR controller acting on a two link arm model of the human arm to demonstrate reaching between points in a 2d plane
ilqr optimal-control nonlinear-optimization reaching-task human-arm-model
Language:MATLAB 1
SlimShadys / ReinforcementLearning
This repo contains all the praticals/homeworks assigned during the Reinforcement Learning course held by Prof. Roberto Capobianco at the AI & Robotics Master's Degree at University of Sapienza @ Rome, Italy.
ddqn ilqr policy-iteration q-learning reinforcement-learning value-iteration
Language:Jupyter Notebook 0
antoniocamposeo / Safe-and-Ergonomic-Human-Drone-Interaction-in-Warehouses
Project for Dynamical System Theory exam - Publication for IROS 2022 Conference
autonomous-robots drones human-robot-interaction ilqr lqr-controller
Language:Jupyter Notebook
MaviVestini / RL_HW1
First homework for the RL class
ilqr policy-iteration reinforcement-learning
Language:Python