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adam

ADAM implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

adaptive-dynamic-programming-algorithms

Adaptive dynamic programming

ball-and-beam-system-optimal-control

Design of a Differential dynamic programming (DDP) algorithm for the optimal control of a Ball and Beam system

barkour_robot

Barkour Robot: Agile Quadruped Robots by Google DeepMind

basicgaitgen

Matlab code for basic gait generator for students

bipedalwalker

BipedalWalker - AI teaching itself to walk

brax

Massively parallel rigidbody physics simulation on accelerator hardware.

buckshot

A MATLAB Interface for the Bullet Physics Engine

cheetah-software

cppad

A C++ Algorithmic Differentiation Package: Home Page

cppadcodegen

Source Code Generation for Automatic Differentiation using Operator Overloading

crocoddyl

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

cuda-python

CUDA Python Low-level Bindings

cvxpylayers

Differentiable convex optimization layers

ddp

Differential Dynamic Programming python implementation for a cartpole system

ddp-1

Differential Dynamic Programming (DDP) with automatic symbolic differentiation

ddp-on-trajectory-optimization

This is a Matlab replication of a conference paper 'Trajectory optimization of autonomous driving by differential dynamic programming'.

ddp_examples

Using Differential Dynamic Programming (DDP) to control various dynamical systems.

deep-learning-with-pytorch-chinese

本仓库将PyTorch官方书籍《Deep learning with PyTorch》（基本摘录版）翻译成中文版并给出可运行的相关代码。

diffcosim

By introducing a differentiable contact model, DiffCoSim extends the applicability of Lagrangian/Hamiltonian-inspired neural networks to enable learning of hybrid dynamics.

differentiable-optimization-based-modeling-for-machine-learning-forked-dr.amos-s-phd-thesis

Differentiable Optimization-Based Modeling for Machine Learning

dojo.jl

A differentiable physics engine for robotics

equinox

Elegant easy-to-use neural networks + scientific computing in JAX. https://docs.kidger.site/equinox/

fast-rbd-gradients

Code supporting the RAL paper "Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA"

grid

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

hamiltonian-nn

Code for our paper "Hamiltonian Neural Networks"

hector_simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

hrpsys-base

Basic RT components and utilities to control robots using OpenRTM

humanoid-gym

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

idyntree

Multibody Dynamics Library designed for Free Floating Robots