Repositories list

• indy7-mpc

  Public
  MPC with the Indy7 manipulator

  Jupyter Notebook

  •0•0•0•0•Updated May 2, 2025May 2, 2025

• GATO

  Public
  GPU-Accelerated Trajectory Optimization

  Cuda

  •

  MIT License

  •0•18•0•0•Updated May 2, 2025May 2, 2025

• SGRUtils

  Public
  Simple GPU Robotics Utility Functions

  Cuda

  •0•1•0•0•Updated Apr 29, 2025Apr 29, 2025

• GLASS

  Public
  GPU Linear Algebra Simple Subroutines

  Cuda

  •1•3•0•0•Updated Apr 29, 2025Apr 29, 2025

• GRiDCodeGenerator

  Public
  A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.

  Python

  •

  MIT License

  •6•0•0•0•Updated Apr 28, 2025Apr 28, 2025

• A2R-Lab.github.io

  Public
  HTML

  •0•1•0•0•Updated Apr 28, 2025Apr 28, 2025

• GRiD

  Public
  A GPU accelerated library for computing rigid body dynamics with analytical gradients

  Python

  •

  MIT License

  •17•6•0•1•Updated Apr 23, 2025Apr 23, 2025

• DeKA

  Public
  Python

  •0•3•0•1•Updated Apr 21, 2025Apr 21, 2025

• indy7-sdk

  Public
  Deploy MPC for Indy7 hardware and in MuJoco

  C++

  •1•0•0•0•Updated Apr 18, 2025Apr 18, 2025

• TinyMPCReference

  Public
  A reference implementation of TinyMPC in pure Python

  Python

  •1•2•0•0•Updated Apr 12, 2025Apr 12, 2025

• RBDReference

  Public
  A Python reference implementation of rigid body dynamics algorithms

  Python

  •

  MIT License

  •7•2•0•0•Updated Apr 11, 2025Apr 11, 2025

• URDFParser

  Public
  A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.

  Python

  •

  MIT License

  •6•1•0•0•Updated Apr 4, 2025Apr 4, 2025

• TinyMPC.github.io

  Public
  HTML

  •2•0•0•0•Updated Mar 31, 2025Mar 31, 2025

• FoAC

  Public
  0•0•0•0•Updated Mar 27, 2025Mar 27, 2025

• GBD-PCG

  Public
  A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver

  Cuda

  •1•4•0•1•Updated Mar 26, 2025Mar 26, 2025

• tinympc-crazyflie

  Public
  Documents on integrating TinyMPC into the Crazyflie nano-quadrotor

  C++

  •0•4•0•0•Updated Feb 19, 2025Feb 19, 2025

• BCHOL

  Public
  Block factorization team working on improving rsqlr algorithm

  Cuda

  •0•2•0•0•Updated Feb 17, 2025Feb 17, 2025

• TrajoptMPCReference

  Public
  A Python reference implementation of trajectory optimization (trajopt) algorithms and model predictive control (MPC).

  Python

  •

  MIT License

  •5•4•0•0•Updated Feb 14, 2025Feb 14, 2025

• BCHOL-python

  Public
  Python proof of concept for Block Cholesky : A Parallel linear system solver for optimal control.

  Python

  •0•2•0•0•Updated Jan 27, 2025Jan 27, 2025

• MPCGPU

  Public
  Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"

  Cuda

  •3•52•1•0•Updated Dec 12, 2024Dec 12, 2024

• TinyMPC

  Public
  Model-predictive control for microcontrollers

  C++

  •

  MIT License

  •107•0•0•0•Updated Dec 5, 2024Dec 5, 2024

• Indy7

  Public
  Real-time control for Neuromeka Indy7

  Jupyter Notebook

  •0•1•0•0•Updated Oct 11, 2024Oct 11, 2024

• tinympc-python

  Public
  Python interactive interface for TinyMPC

  Python

  •

  MIT License

  •9•0•0•0•Updated Aug 28, 2024Aug 28, 2024

• tinympc-matlab

  Public
  MATLAB interactive interface for TinyMPC

  MATLAB

  •7•0•0•0•Updated Jun 4, 2024Jun 4, 2024

• .github

  Public
  0•0•0•0•Updated May 5, 2024May 5, 2024

• URDF2Spatial

  Public
  URDF Parser to Spatial MATLAB Object

  Python

  •2•0•0•0•Updated May 2, 2024May 2, 2024

• tinympc-julia

  Public
  Julia interactive interface for TinyMPC

  Julia

  •3•0•0•0•Updated Apr 5, 2024Apr 5, 2024

• DiffCompressDRL

  Public
  Source code and numerical experiments for the paper: "Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning"

  Python

  •0•0•0•0•Updated Mar 20, 2024Mar 20, 2024

• SymStair

  Public
  Numerical experiments for the paper: "Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization"

  Python

  •0•2•0•0•Updated Mar 20, 2024Mar 20, 2024

• GBD-PCG-Python

  Public
  Python

  •

  MIT License

  •0•1•0•0•Updated Jan 16, 2024Jan 16, 2024