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constrained-optimization x

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Incremental Potential Contact (IPC) is for robust and accurate time stepping of nonlinear elastodynamics. IPC guarantees intersection- and inversion-free trajectories regardless of materials, time-step sizes, velocities, or deformation severity.

Generic Constraint Development Environment

HPC solver for nonlinear optimization problems

Optcuts ⭐ 135

OptCuts, a new parameterization algorithm, jointly optimizes arbitrary embeddings for seam quality and distortion. OptCuts requires no parameter tuning; automatically generating mappings that minimize seam-lengths while satisfying user-requested distortion bounds.

A next-generation solver for nonlinearly constrained nonconvex optimization. Modular and lightweight, it unifies iterative methods (SQP vs interior points) and globalization techniques (filter method vs merit function, line search vs trust region method) in a single framework. Competitive against IPOPT, filterSQP, SNOPT, MINOS and CONOPT

Codim Ipc ⭐ 116

Source Codes for Codimensional Incremental Potential Contact (C-IPC)

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.

A C++ Constraint Programming Library

Learning Dd ⭐ 16

Implementation of the paper "Improving Optimization Bounds using Machine Learning: Decision Diagrams meet Deep Reinforcement Learning".

Panoc Alm ⭐ 7

Library for nonconvex constrained optimization using the augmented Lagrangian method and the matrix-free PANOC algorithm.

Ags_nlp_solver ⭐ 7

Derivative-free nonlinear global optimizer with python interface

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