C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI variants and Multiple Environments
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Updated
Aug 13, 2024 - C++
C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI variants and Multiple Environments
Model Predictive Path Integral Control (MPPI) with PyTorch
Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch
off-road navigation simulator for benchmarking planning algorithms
25 path-tracking algorithms are (goint to be) implemented with python.
Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.
SIA - C++/Python library for model-based stochastic estimation and optimal control
Adaptive importance sampling modification to MPPI
Simple implementation of MPPI in Matlab
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.
[ICRA2024] Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles
Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.
Bayesian Optimization for MPPI Control of Robot Arm Planar Pushing
Basic tutorials and examples of using numba for GPU-based computation.
A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.
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