Safety-aware MPC-based RL framework

LAMPOS, a strategy-based solution approach for mp-MILPs for real-time mixed-integer MPC with sub-optimality quantification

Use PyTorch Models with CasADi and Acados

Additional environments compatible with OpenAI gym

OpenAI gym Environments for Quadrotor Control

Training efficient drone controllers with Analytic Policy Gradient

A Fast, Portable Deep Reinforcement Learning Library for Continuous Control

Mobile Robot Control via Goal-Conditioned Reinforcement Learning

Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.

A lightweight learning-based trajectory optimization framework.

This repository contains the software and data for the ICRA2023 submitted article "NMPC for Deep Neural Network-Based Collision Avoidance exploiting Depth Images"

Project Code for the paper "A Learning-based Quadcopter Controller with Extreme Adaptation"

The official codebase of manuscript “ProxFly: Robust Control for Close Proximity Quadcopter Flight via Residual Reinforcement Learning"

Implicit Game-Theoretic MPC