Model Predictive Control Python Packages

daqp

A dual active-set algorithm for convex quadratic programming

346K 106 19

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

8K 1K 206

stable-worldmodel

A platform for reproducible world model research and evaluation

7K 575 90

emhass

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

4K 604 143

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

3K 1K 206

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.

2K 1K 146

opengen

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

2K 634 68

mpcrl

Reinforcement Learning with Model Predictive Control

1K 685 70

pycddp

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

1K 91 16

pytorch-mppi

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

1K 705 73

superadmm

superADMM: Quadratic Program Solver with dynamic weighting ADMM

1K 6 2

upkie

Open-source wheeled biped robots

905 356 50

pyoptas

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

620 138 20

mpopt

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

544 68 21

building-energy-storage-simulation

A simulation of a building to optimize energy storage utilization.

532 62 13

direct-data-driven-mpc

Robust and nonlinear Direct Data-Driven MPC controllers for LTI and nonlinear systems in Python

413 22 2

hilo-mpc

HILO-MPC is a Python toolbox for easy, flexible and fast development of machine-learning-supported optimal control and estimation problems

386 199 36

onyxengine

The official Python library for the Onyx Engine.

373 10 0

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)

296 82 16