crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

Composable blends of MPC and RL for robotics: residual RL, learned terminal costs, policy warm starts, and MPC distillation over Gymnasium + Crocoddyl/acados, benchmarked on a walking Go2

🚀 Transfer files securely between any two computers with `croc`, the simple and efficient CLI file-transfer tool.

Development of a Walking and Trajectory Planning Controller using an inverted pendulum, floating-base MPC optimal controller. Simulation done with Pybullet and Crocoddyl