Optimal Control Python Packages

casadi

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python, Matlab/Octave, Julia or Javascript

ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

dymos

Open Source Optimization of Dynamic Multidisciplinary Systems

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

copp-py

Convex-Objective Path Parameterization

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

asset-asrl

High-speed, extensible, object-oriented trajectory design and optimization

opengen

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

casadi-gil-comp

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python, Matlab/Octave, Julia or Javascript

fsrs4anki-optimizer

A modern Anki custom scheduling based on Free Spaced Repetition Scheduler algorithm

krotov

Python implementation of Krotov's method for quantum optimal control

qpmpc

Model predictive control in Python based on quadratic programming

mpopt

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

pyoptas

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

opty

A library for using direct collocation in the optimization of dynamic systems.

building-energy-storage-simulation

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

maptor

MAPTOR: Multiphase Adaptive Trajectory Optimizer

lqrax

GPU-friendly, auto-differentiable LQR solver with JAX.

invariants-py

Calculate invariant trajectory representations from trajectory data and generate new trajectories from the invariants.

ltv-mpc

Model predictive control in Python based on quadratic programming

barrier-states-python

Python library for Barrier States (BaS) safe control and safety-embedded systems.

pockit-optimal-control

pockit: Python Optimal Control KIT

pympcxx

libmpc++ is a C++ header-only library to solve linear and non-linear MPC