Differentiable linear model predictive control in Python.
Project description
qpmpc_layers
Differentiable linear model predictive control in Python, for optimal-control problems that are quadratic programs. This library revisits qpmpc with a new API better suited to PyTorch, and builds upon QPLayer to solve QPs as part of PyTorch computation graphs.
[!WARNING] qpmc_layers is still under development, expect breaking changes.
Feel also free to join the discussion or add work-in-progress examples at this stage.
Development
- Checking unit tests:
pixi run -e py310 test - Building and opening the documentation locally:
pixi run docs-open
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