https://github.com/thowell/optimization_dynamics

Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928
https://github.com/thowell/optimization_dynamics

acrobot bilevel-optimization cartpole control differentiable-optimization dynamics hopper implicit optimization planar-push rocket trajectory-optimization

Last synced: about 1 month ago
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Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928

• Host: GitHub
• URL: https://github.com/thowell/optimization_dynamics
• Owner: thowell
• License: mit
• Created: 2021-10-25T03:51:47.000Z (about 3 years ago)
• Default Branch: main
• Last Pushed: 2022-12-13T02:04:39.000Z (almost 2 years ago)
• Last Synced: 2024-10-09T20:41:13.459Z (about 1 month ago)
• Topics: acrobot, bilevel-optimization, cartpole, control, differentiable-optimization, dynamics, hopper, implicit, optimization, planar-push, rocket, trajectory-optimization
• Language: Julia
• Homepage:
• Size: 4.45 MB
• Stars: 57
• Watchers: 4
• Forks: 3
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Trajectory Optimization with Optimization-Based Dynamics 

This repository contains the implementation and examples from our paper: [Trajectory Optimization with Optimization-Based Dynamics](https://arxiv.org/abs/2109.04928).

## Installation

From the Julia REPL, type `]` to enter the Pkg REPL mode and run:

```julia

pkg> add https://github.com/thowell/optimization_dynamics

```

This will install the package.

Run 

```julia 

(OptimizationDynamics) pkg> build

```

to build the package.

[Notebooks](examples) are generated upon installation and can be run for the following examples:

## planar push

 

## acrobot with joint limits



## cart-pole with joint friction



## hopper gait



## rocket with thrust limits



Additional comparisons with [MuJoCo](examples/comparisons/acrobot) and [contact-implicit trajectory optimization](examples/comparisons/hopper.jl) are available. 

The path-following solver and hopper model can be found in [RoboDojo.jl](https://github.com/thowell/RoboDojo.jl).