Policy Search for Model Predictive Control with Application to Agile Drone Flight

Model Predictive Contouring Controller (MPCC) for Autonomous Racing

The reimplementation of Model Predictive Path Integral (MPPI) from the paper "Information Theoretic MPC for Model-Based Reinforcement Learning" (Williams et al., 2017) for the pendulum OpenAI Gym e…

A fast and differentiable model predictive control (MPC) solver for PyTorch.

Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

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

Sampling based control for kino-dynamic contact aware motion planning.

Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit

Adaptive importance sampling modification to MPPI

This repo contains the code for "Object Rearrangement Using Learned Implicit Collision Functions", an ICRA 2021 paper. For more information, please visit the project website.

Sampling based Model Predictive Control package for Model-Based RL research

Software for the AutoRally platform

This repository contains CartPole simulator with its GUI, implemented controller (LQR) and generator of random desired position trace. It also contains files to train and test RNN predicting future…

A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.

ROS package for autonomous navigation of AGVs in unknown cluttered environments using MPPI and log-MPPI

Gaussian Process Motion Planner 2

Code for "Temporal Difference Learning for Model Predictive Control"

Sampling based model predictive control (MPC) using MuJoCo simulator

PyTorch implementation of soft actor critic

Reinforcement learning algorithms for MuJoCo tasks

A unified framework for robot learning

Trajectory Planner in Multi-Agent and Dynamic Environments

This repository contains the code for our paper on Dynamic Mirror Descent based MPC for Model-Free RL

Implementation of the Learning Model Predictive Controller for autonomous racing

Official implementation of "Training Diverse High-Dimensional Controllers by Scaling Covariance Matrix Adaptation MAP-Annealing"

Real-time behaviour synthesis with MuJoCo, using Predictive Control

Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks