An open-source systems and controls toolbox for Python3

Model-based Control using Koopman Operators

Height Control and Optimal Torque Planning for Jumping with Wheeled-Bipedal Robots

PyTorch implementation of "Learning Stable Deep Dynamics Models" (https://papers.nips.cc/paper/9292-learning-stable-deep-dynamics-models), with extensions to controlled dynamical systems.

Model-based Calibration of Multiple Injections for a CI engine

We compare model-free and model-based methods in the context of battery control.

JAX compilation of RDDL description files, and a differentiable planner in JAX.

[NeurIPS 2024] Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space

For the consolidation of my personal model predictive control (MPC) library. Example cases also given.

Docker files for connecting the PROST planner with pyRDDLGym.

Sidney's Technical Blog

Sketches of model-based control ideas for gym classic control

Wrappers for reinforcement learning algorithms (i.e. stable baselines 3, RLlib) to work with pyRDDLGym.

Gurobi compilation of RDDL description files to mixed-integer programs, and optimization tools.