Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

Improved sampling via learned diffusions (ICLR2024) and an optimal control perspective on diffusion-based generative modeling (TMLR2024)

Robot Controls Course Project

Links for the most relevant topics

a High-Performance Distributed Solver for Large-Scale Markov Decision Processes (MDP) relying on Inexact Policy Iteration; for Python and C++

Stochastic Optimal Control in Robotics Project

A simple and extensible Octave/Matlab library for Model Predictive Path Integral control scheme.

MATLAB toolbox for stochastic reachability (probabilistic verification and controller synthesis)

Repository for Deterministic Particle Flow Control framework

Matlab code solving a simple stochastic optimal growth model. Solved with both coleman policy iteration and value function iteration.

Code for the paper "Achieving Maximum Urgency-Dependent Throughput in Random Access"

CGDPO (model-based reinforcement algorithm for dynamic choice problem in finance)