Motion planning & control

Open source

Documentation for the MotrixSim multibody dynamics and robotics simulation engine.

Open source

MPC-guided RL for Humanoid Locomotion and Manipulation

Open source

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

Open source

This repository implements Motion Planning Diffusion (MPD) - a method for learning and planning robot motions with diffusion models.

Open source

A C++/CUDA implementation of Model Predictive Path Integral control.

Open source

Motion Planning Templates creates fast, parallel, robot-specific motion planners.

Open source

MuJoCo locomotion RL experiments with PPO and domain randomization.

Open source

Hybrid motion planner related to "Trajectory Planning for Quadrotor Swarms" and "Trajectory Planning for Heterogeneous Robot Teams" papers

Open source

Code accompanying the RA-L / ICRA 2020 paper: "Online Trajectory Generation with Distributed Model Predictive Control for Multi-Robot Motion Planning"

Open source

PAROL6 ROS2 MOVEIT

Open source

Hybrid A* path planner for an autonomous research vehicle.

Open source

Combines symbolic planners and black-box samplers for robotic planning.

Open source

Physics simulation library for rigid bodies, deformable solids and fluids.

Open source

Proximal optimization toolbox for numerical optimization workflows.

Open source

Aerodynamic analysis software for flapping-wing flight.

Open source

Python toolbox for robotics calculations.

Open source

Toolkit for multibody dynamics modeling and analysis.

Open source

OpenRAVE-based environment for humanoid robotics prototyping.

Open source

A library for differentiable robotics on manifolds.

Open source

:dog2: Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1

Open source

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)

Open source

Rank-Then-Act research code for control from frame-order progress.

Open source

Deep RL for MPC control of Quadruped Robot Locomotion

Open source

Wheeled mobile robot motion planning library designed for FTC