tud-airlab / mppi_torch

A fast and modular MPPI implementation with Halton spline sampling

Credits

Much of the backbone of the mppi implementation is based on pytorch_mppi, however it has been modified with addition sampling modes (e.g. Halton spline sampling) by Corrado Pezzato, Elia Trevisan and Chadi Salmi.

Structure

The project is structured as follows:

• examples/: Contains the point robot example.
• mppi_torch/: Contains the implementation of the MPPI algorithm and its utilities.
• pyproject.toml and poetry.lock: Configuration files for project dependencies.

Installation

To install the project, follow these steps:

# Clone the repository
git clone <repository-url>

# Navigate to the project directory
cd <project-directory>

# Install dependencies
poetry install

Usage

To run the point robot example:

cd examples/point_robot
python run.py

Contributing

Contributions are welcome. Please submit a pull request.