Trajectory Optimization Software¶
Gradient-based MPC¶
iLQR / DDP¶
- aligator - versatile and efficient framework for constrained trajectory optimization (C++)
- crocoddyl: ddp.cpp - DDP solver in the crocoddyl optimal control library
- mujoco_mpc: ilqg planner - iLQG planner inside MuJoCo MPC
- nuplan-devkit: ilqr_tracker.py - iLQR tracker in the nuPlan planning framework
trajax¶
- google/trajax - differentiable trajectory optimization using JAX (iLQR, DDP)
- L4DC 2022 trajax tutorial
ALTRO (Augmented Lagrangian Trajectory Optimizer)¶
- TrajectoryOptimization.jl - Julia trajectory optimization framework (REx Lab, CMU)
- Altro.jl - Julia implementation of ALTRO
- ALTRO (C++) - C++ implementation of ALTRO (REx Lab)
- altro-cpp (optimusride) - alternative C++ port of ALTRO
Sampling-Based MPC¶
MuJoCo MPC¶
- google-deepmind/mujoco_mpc - real-time behaviour synthesis with MuJoCo using Predictive Sampling, MPPI, and related methods
- [2212.00541] Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo
judo¶
- bdaiinstitute/judo - user-friendly Python package for sampling-based MPC (MPPI, CEM, Predictive Sampling) with MuJoCo backend
- RAI Institute: judo workshop page
- RAI Institute: Combining Sampling and Learning for Dynamic Whole-Body Manipulation
hydrax¶
- vincekurtz/hydrax - sampling-based MPC on GPU with JAX and MuJoCo MJX