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    • Real-time behaviour synthesis with MuJoCo, using Predictive Control
      C++
      237000Updated Dec 3, 2025Dec 3, 2025
    • HTML
      0000Updated Dec 3, 2025Dec 3, 2025
    • GRiD

      Public
      A GPU accelerated library for computing rigid body dynamics with analytical gradients
      Cuda
      171201Updated Nov 21, 2025Nov 21, 2025
    • Documents on integrating TinyMPC into the Crazyflie nano-quadrotor
      C++
      0600Updated Nov 19, 2025Nov 19, 2025
    • ADMMSlack

      Public
      Python
      0300Updated Nov 10, 2025Nov 10, 2025
    • .github

      Public
      0000Updated Nov 10, 2025Nov 10, 2025
    • GATO

      Public
      GPU-Accelerated Trajectory Optimization
      Cuda
      23200Updated Nov 7, 2025Nov 7, 2025
    • A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.
      Python
      6001Updated Nov 3, 2025Nov 3, 2025
    • SGRUtils

      Public
      Simple GPU Robotics Utility Functions
      Cuda
      0100Updated Oct 31, 2025Oct 31, 2025
    • HTML
      2000Updated Oct 6, 2025Oct 6, 2025
    • HJCD-IK

      Public
      Cuda
      2800Updated Oct 4, 2025Oct 4, 2025
    • A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.
      Python
      6100Updated Oct 3, 2025Oct 3, 2025
    • DeKA

      Public
      Python
      0301Updated Sep 16, 2025Sep 16, 2025
    • GATO-RL

      Public
      Jupyter Notebook
      0000Updated Aug 1, 2025Aug 1, 2025
    • GLASS

      Public
      GPU Linear Algebra Simple Subroutines
      Cuda
      2300Updated Jul 24, 2025Jul 24, 2025
    • A Python reference implementation of rigid body dynamics algorithms
      Python
      7200Updated Jul 23, 2025Jul 23, 2025
    • A reference implementation of TinyMPC in pure Python
      Python
      1300Updated Jul 17, 2025Jul 17, 2025
    • A Python reference implementation of trajectory optimization (trajopt) algorithms and model predictive control (MPC).
      Python
      5600Updated Jun 9, 2025Jun 9, 2025
    • Python
      0100Updated Jun 9, 2025Jun 9, 2025
    • GBD-PCG

      Public
      A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver
      Cuda
      4401Updated May 14, 2025May 14, 2025
    • indy7-mpc

      Public
      MPC with the Indy7 manipulator
      Jupyter Notebook
      0000Updated May 9, 2025May 9, 2025
    • indy7-sdk

      Public
      Deploy MPC for Indy7 hardware and in MuJoco
      C++
      1100Updated Apr 18, 2025Apr 18, 2025
    • FoAC

      Public
      0000Updated Mar 27, 2025Mar 27, 2025
    • BCHOL

      Public
      Block factorization team working on improving rsqlr algorithm
      Cuda
      0200Updated Feb 17, 2025Feb 17, 2025
    • Python proof of concept for Block Cholesky : A Parallel linear system solver for optimal control.
      Python
      0200Updated 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
      86820Updated Dec 12, 2024Dec 12, 2024
    • TinyMPC

      Public
      Model-predictive control for microcontrollers
      C++
      115000Updated Dec 5, 2024Dec 5, 2024
    • Indy7

      Public
      Real-time control for Neuromeka Indy7
      Jupyter Notebook
      0100Updated Oct 11, 2024Oct 11, 2024
    • Python interactive interface for TinyMPC
      Python
      12000Updated Aug 28, 2024Aug 28, 2024
    • MATLAB interactive interface for TinyMPC
      MATLAB
      9000Updated Jun 4, 2024Jun 4, 2024