Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "sar" stands for "simulation and real"

Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped"

Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments

ROS2 version of OCS2, refactor with modern-cmake

The Control Toolbox - An Open-Source C Library for Robotics, Optimal and Model Predictive Control

ROS stack with an efficient real-time NMPC for the Crazyflie 2.1

Model Predictive Control using acados and ROS.

The main firmware for the Crazyflie Nano Quadcopter, Crazyflie Bolt Quadcopter and Roadrunner Positioning Tag.

Q8 Robot

Real-time behaviour synthesis with MuJoCo, using Predictive Control

robopal 是一个基于 MuJoCo 动力学引擎与 pinocchio 机器人动力学库搭建的多平台开源机器人仿真框架，主要用于机械臂的深度强化学习训练与控制算法验证。

SymEngine is a fast symbolic manipulation library, written in C

use casadi and ipopt solve NMPC problem, implement with ROS node

A YAML parser and emitter in C

Trajectory optimization in MATLAB for MIT Cheetah

Multi-Joint dynamics with Contact. A general purpose physics simulator.

libmpc is a C header-only library to solve linear and non-linear MPC

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).

Economic tuning of tracking (N)MPC problems.

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained …

ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct o…

Project Page for Lifelike Agility and Play in Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models

coturn TURN server project

RL implementations

Fast and simple implementation of RL algorithms, designed to run fully on GPU.