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
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Updated
May 25, 2024 - C++
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
Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models
iterative Linear Quadratic Regulator with constraints.
Differential Dynamic Programming controller operating in OpenAI Gym environment.
A toolbox for trajectory optimization of dynamical systems
A Julia package for constrained iterative LQR (iLQR)
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.
Differential Dynamic Programming (DDP) with automatic symbolic differentiation
WIP implementation of Probabilistic Differential Dynamic Programming in PyTorch
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Project management and files related to my master's thesis on 'Highly-Dynamic Movements of a Humanoid Robot Using Whole-Body Trajectory Optimization'
Guided policy search in Python and ROS Indigo.
Implementation of DDP algorithm for Optimal Control on a Bicycle Model for optimal lane change maneuvering and Skidpad track following.
Optimal control solver implemented in Python. SymPy for symbolic differentiation and Numba for fast computation.
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