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 or Matlab/Octave.

ruckig

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

dymos

Open Source Optimization of Dynamic Multidisciplinary Systems

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

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

copp-py

Convex-Objective Path Parameterization

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 or Matlab/Octave.

opengen

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

fsrs4anki-optimizer

No description available

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.

maptor

Multiphase Adaptive Trajectory Optimizer

building-energy-storage-simulation

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

krotov

Python implementation of Krotov's method for quantum optimal control

lqrax

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

opty

Tool for optimizing dynamic systems using direct collocation.

invariants-py

Calculate invariant trajectory representations from trajectory data and generate new trajectories from invariant representations

ltv-mpc

Model predictive control in Python based on quadratic programming

qpmpc

Linear time-variant model predictive control in Python.

pympcxx

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

pyro-udes

An object-based toolbox for robot dynamic simulation, analysis, control and planning.

feedbax

Optimal feedback control + interventions, in JAX.

hionx

Hion (/ˈiː.ɒn/): Hamiltonian-Informed Optimal Neural Control