model-based-control

An open-source systems and controls toolbox for Python3

Fine-grained robot control with Jev, physics previews, and configurable LIBERO tasks.

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

Model-based Control using Koopman Operators

ROS 2 Reinforcement learning playground

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

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.

Convex MPC humanoid locomotion in MuJoCo with SRB modeling and contact-wrench optimization.

Official python code of "Guaranteed Robust Nonlinear MPC via Disturbance Feedback", ICRA 2026

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

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

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

Docker files for connecting the PROST planner with pyRDDLGym.

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

Model based control examples for legged robots

Phone videos of my own tabletop pushes train a small world model that plans pushes for a simulated Franka Panda in PyBullet.

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

Code and data for the preprint "Smooth Surrogate Models Approve Impossible Firing Patterns." A smooth surrogate of a Hodgkin-Huxley f-I curve silently certifies firing rates the real neuron cannot produce (the Type-II gap and depolarization block); a feasibility screen against the true f-I removes the failure.

Sketches of model-based control ideas for gym classic control

Sidney's Technical Blog