A simple and extensible Octave/Matlab library for Model Predictive Path Integral control scheme.
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Updated
Dec 16, 2019 - MATLAB
A simple and extensible Octave/Matlab library for Model Predictive Path Integral control scheme.
Model based RL using Model Predictive Control
PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.
A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.
Basic tutorials and examples of using numba for GPU-based computation.
Bayesian Optimization for MPPI Control of Robot Arm Planar Pushing
Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.
[ICRA2024] Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles
Topics include function approximation, learning dynamics, using learned dynamics in control and planning, handling uncertainty in learned models, learning from demonstration, and model-based and model-free reinforcement learning.
Simple implementation of MPPI in Matlab
Model Predictive Path Integral Control (MPPI) with PyTorch
Adaptive importance sampling modification to MPPI
SIA - C++/Python library for model-based stochastic estimation and optimal control
Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
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