Model Predictive Control Python Packages

daqp

A dual active-set algorithm for convex quadratic programming

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

stable-worldmodel

A platform for reproducible world model research and evaluation

pycddp

Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

emhass

An Energy Management System for Home Assistant

opengen

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

libcrocoddyl

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

mpcrl

Reinforcement Learning with Model Predictive Control

superadmm

Quadratic Programming solver using a superlinear ADMM method

upkie

Python module to control Upkie wheeled biped robots.

python-motion-planning

Motion planning(Path Planning and Trajectory Planning/Tracking) of AGV/AMR：python implementation of Dijkstra, A*, JPS, D*, LPA*, D* Lite, (Lazy)Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, Voronoi, PID, DWA, APF, LQR, MPC, RPP, Bezier, Dubins etc.

pytorch-mppi

Model Predictive Path Integral (MPPI) implemented in pytorch

mpopt

A pseudo-spectral collocation based multi-phase Optimal control problem solver

pyoptas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.

onyxengine

Deploy a production-ready AI model training workflow for hardware control systems and physics simulation in minutes.

kq-lmpc-quadrotor

A complete, hardware-ready Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required)

direct-data-driven-mpc

Robust and nonlinear Direct Data-Driven MPC controllers for LTI and nonlinear systems in Python

hilo-mpc

HILO-MPC is a Python toolbox for easy, flexible and fast development of machine-learning-supported optimal control and estimation problems

building-energy-storage-simulation

A simulation of a building to optimize energy storage utilization.

tfmpc

An implementation of model-predictive control algorithms using TensorFlow 2

ltv-mpc

Linear time-variant model predictive control in Python.

qpmpc

Model predictive control in Python based on quadratic programming

upkie-locomotion

Open-source wheeled biped robots

deepc-hunt

[L4DC 2025] Automatic hyperparameter tuning for DeePC. Built by Michael Cummins at the Automatic Control Laboratory, ETH Zurich.