Judo is an open-source, Python-based package that bundles sampling-based MPC algorithms (predictive sampling, CEM, MPPI) with MuJoCo simulation, a real-time GUI, and asynchronous deployment support.
Sampling-based model predictive control leverag- ing parallelizable physics simulations, 2023
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Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control
Judo is an open-source, Python-based package that bundles sampling-based MPC algorithms (predictive sampling, CEM, MPPI) with MuJoCo simulation, a real-time GUI, and asynchronous deployment support.