Model Predictive Control Python Packages

daqp

A dual active-set algorithm for convex quadratic programming

python-motion-planning

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

stable-worldmodel

A platform for reproducible world model research and evaluation

causal-hybrid-control

Physics-structured dynamics with a learned causal residual, controlled by constrained optimal control / MPC.

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

emhass

emhass: Energy Management for Home Assistant, is a Python module designed to optimize your home energy interfacing with Home Assistant.

superadmm

superADMM: Quadratic Program Solver with dynamic weighting ADMM

libcrocoddyl

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

hypercube-worldmodel

World model on a Boolean hypercube: frozen reservoir encoders and a locally connected predictor that learns how the latent code moves under an action. C++20, no dependencies.

upkie

Open-source wheeled biped robots

opengen

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

mpcrl

Reinforcement Learning with Model Predictive Control

skelarm

A simple dynamics simulator for a configurable planar robot arm.

pytorch-mppi

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

lettuce-greenhouse-gym

Gymnasium environment for the van Henten lettuce greenhouse model

scpn-control

Control-grade tokamak runtime with neuro-symbolic controllers, fail-closed admission, replay evidence, Python and Rust.

pycddp

Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

python-mpc

A Model Predictive Control (MPC) Python library based on the OSQP solver.

qpmpc

Model predictive control in Python based on quadratic programming

mpopt

A pseudo-spectral collocation based multi-phase Optimal control problem solver

onyxengine

Deploy a production-ready AI model training workflow for hardware control systems and physics simulation in minutes.

pyoptas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.

kq-lmpc-quadrotor

A complete, hardware-ready Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required)

building-energy-storage-simulation

An open source playground energy storage environment to explore reinforcement learning and model predictive control.