Repositories list

• ADMM_FPGA

  Public
  Python

  •

  MIT License

  •0•2•0•0•Updated Mar 28, 2026Mar 28, 2026

• tinympc-crazyflie

  Public
  Documents on integrating TinyMPC into the Crazyflie nano-quadrotor

  C++

  •2•9•0•0•Updated Mar 18, 2026Mar 18, 2026

• A2R-Lab.github.io

  Public
  HTML

  •0•0•0•0•Updated Mar 13, 2026Mar 13, 2026

• crazyflie_fpga_firmware

  Public
  C

  •

  MIT License

  •0•0•0•0•Updated Mar 12, 2026Mar 12, 2026

• Crazyflie_FPGA_Deck

  Public
  Expansion board for a Crazyflie drone featuring an AMD Xilinx Artix-7 100T FPGA. Designed in KiCad

  MIT License

  •0•0•0•0•Updated Mar 12, 2026Mar 12, 2026

• TinyMPCReference

  Public
  A reference implementation of TinyMPC in pure Python

  Python

  •2•4•0•0•Updated Mar 8, 2026Mar 8, 2026

• HJCD-IK

  Public
  Cuda

  •2•14•0•0•Updated Mar 5, 2026Mar 5, 2026

• ros2-crazyflie-mocap

  Public
  Python

  •0•0•0•0•Updated Mar 1, 2026Mar 1, 2026

• GATO

  Public
  GPU-Accelerated Trajectory Optimization

  Cuda

  •

  MIT License

  •3•35•0•0•Updated Feb 26, 2026Feb 26, 2026

• TAG-K

  Public
  Tail-Averaged Greedy Randomized Kaczmarz

  Python

  •0•1•0•0•Updated Feb 13, 2026Feb 13, 2026

• GRiD

  Public
  A GPU accelerated library for computing rigid body dynamics with analytical gradients

  Cuda

  •

  MIT License

  •17•13•0•0•Updated Feb 8, 2026Feb 8, 2026

• GRiDCodeGenerator

  Public
  A optimized CUDA C++ code generation engine for rigid body dynamics algorithms and their analytical gradients.

  Python

  •

  MIT License

  •6•0•0•0•Updated Feb 8, 2026Feb 8, 2026

• RBDReference

  Public
  A Python reference implementation of rigid body dynamics algorithms

  Python

  •

  MIT License

  •7•2•0•0•Updated Feb 8, 2026Feb 8, 2026

• URDFParser

  Public
  A simple parser libaray for URDF Files. That returns a robot object which can be used to access links, joints, transformation matrices, etc.

  Python

  •

  MIT License

  •5•1•0•0•Updated Feb 8, 2026Feb 8, 2026

• mujoco_mpc

  Public
  Real-time behaviour synthesis with MuJoCo, using Predictive Control

  C++

  •

  Apache License 2.0

  •253•0•0•0•Updated Dec 12, 2025Dec 12, 2025

• ADMMSlack

  Public
  Python

  •1•3•0•0•Updated Nov 10, 2025Nov 10, 2025

• .github

  Public
  0•0•0•0•Updated Nov 10, 2025Nov 10, 2025

• SGRUtils

  Public
  Simple GPU Robotics Utility Functions

  Cuda

  •0•1•0•0•Updated Oct 31, 2025Oct 31, 2025

• TinyMPC.github.io

  Public
  HTML

  •2•0•0•0•Updated Oct 6, 2025Oct 6, 2025

• GATO-RL

  Public
  Jupyter Notebook

  •0•0•0•0•Updated Aug 1, 2025Aug 1, 2025

• GLASS

  Public
  GPU Linear Algebra Simple Subroutines

  Cuda

  •1•3•0•0•Updated Jul 24, 2025Jul 24, 2025

• TrajoptMPCReference

  Public
  A Python reference implementation of trajectory optimization (trajopt) algorithms and model predictive control (MPC).

  Python

  •

  MIT License

  •5•8•0•0•Updated Jun 9, 2025Jun 9, 2025

• GBD-PCG-Python

  Public
  Python

  •

  MIT License

  •0•1•0•0•Updated Jun 9, 2025Jun 9, 2025

• GBD-PCG

  Public
  A GPU-Accelerated Block-Tridiagonal Matrix Preconditioned Conjugate Gradient Solver

  Cuda

  •4•5•0•1•Updated May 14, 2025May 14, 2025

• indy7-mpc

  Public
  MPC with the Indy7 manipulator

  Jupyter Notebook

  •0•0•0•0•Updated May 9, 2025May 9, 2025

• indy7-sdk

  Public
  Deploy MPC for Indy7 hardware and in MuJoco

  C++

  •1•2•0•0•Updated Apr 18, 2025Apr 18, 2025

• FoAC

  Public
  0•0•0•0•Updated Mar 27, 2025Mar 27, 2025

• BCHOL

  Public
  Block factorization team working on improving rsqlr algorithm

  Cuda

  •0•2•0•0•Updated Feb 17, 2025Feb 17, 2025

• BCHOL-python

  Public
  Python proof of concept for Block Cholesky : A Parallel linear system solver for optimal control.

  Python

  •0•2•0•0•Updated Jan 27, 2025Jan 27, 2025

• MPCGPU

  Public
  Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU"

  Cuda

  •8•72•2•0•Updated Dec 12, 2024Dec 12, 2024