Tube-certified nonlinear tracking with robust control contraction metrics

Pytorch-based framework for solving parametric constrained optimization problems, physics-informed system identification, and parametric model predictive control.

Flow Matching Tutorial

The Fastest Deep Reinforcement Learning Library

Masters course revisited

A Tutorial on Manipulator Differential Kinematics

Figures and code examples from Bayesian Analysis with Python (third edition)

Modern C++ Programming Course (C++03/11/14/17/20/23/26)

Zonotope implementation in python. Supports CVXPY

Parallel solvers for optimal control

A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulations and solver backends.

Data Driven Model Predictive Control using Gaussian Processes

Matlab implementation of the paper "Predictive Safety Filter using System Level Synthesis"

Matlab implementation of the paper "Fast System Level Synthesis: Robust Model Predictive Control using Riccati Recursions"

Matlab implementation of the paper "Robust Nonlinear Optimal Control via System Level Synthesis"

Matlab implementation of the paper "Robust Optimal Control for Nonlinear Systems with Parametric Uncertainties via System Level Synthesis"

Convex-Convex Lecture Slides and Code

Various Conformal Prediction methods implemented from scratch in pure NumPy for an educational purpose.

All pdfs of Victor Eijkhout's Art of HPC books and courses

A computer science textbook

Multi-Threaded FP32 Matrix Multiplication on x86 CPUs

TUM Roborace Team Software Stack - Path tracking control, velocity control, curvature control and state estimation.

Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code…

Demonstration of the PIPG algorithm for trajectory optimization

Demonstration of the PIPG algorithm for trajectory optimization

Interactive textbook on state-space models

CBF library used in a wide variety of simulation and hardware implementations. Embedded friendly, requires OSQP. Library originally written by Thomas Gurriet. Contains slightly modified version of …