Stochastic Optimal Control in Robotics Project
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Updated
May 14, 2019 - MATLAB
Stochastic Optimal Control in Robotics Project
A simple and extensible Octave/Matlab library for Model Predictive Path Integral control scheme.
Links for the most relevant topics
Matlab code solving a simple stochastic optimal growth model. Solved with both coleman policy iteration and value function iteration.
MATLAB toolbox for stochastic reachability (probabilistic verification and controller synthesis)
Robot Controls Course Project
Repository for Deterministic Particle Flow Control framework
Code for the paper "Achieving Maximum Urgency-Dependent Throughput in Random Access"
Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.
Improved sampling via learned diffusions (ICLR2024) and an optimal control perspective on diffusion-based generative modeling (TMLR2024)
An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem
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