Skip to content

Navigation Menu

Appearance settings

View all features
- BY COMPANY SIZE
  Enterprises
  Small and medium teams
  Startups
  Nonprofits
- BY USE CASE
  App Modernization
  DevSecOps
  DevOps
  CI/CD
  View all use cases
- BY INDUSTRY
  Healthcare
  Financial services
  Manufacturing
  Government
  View all industries
View all solutions
- EXPLORE BY TOPIC
  AI
  Software Development
  DevOps
  Security
  View all topics
- EXPLORE BY TYPE
  Customer stories
  Events & webinars
  Ebooks & reports
  Business insights
  GitHub Skills
- SUPPORT & SERVICES
  Documentation
  Customer support
  Community forum
  Trust center
  Partners
View all resources
- COMMUNITY
  GitHub SponsorsFund open source developers
- PROGRAMS
  Security Lab
  Maintainer Community
  Accelerator
  GitHub Stars
  Archive Program
- REPOSITORIES
  Topics
  Trending
  Collections
- ENTERPRISE SOLUTIONS
  Enterprise platformAI-powered developer platform
- AVAILABLE ADD-ONS
  GitHub Advanced SecurityEnterprise-grade security features
  Copilot for BusinessEnterprise-grade AI features
  Premium SupportEnterprise-grade 24/7 support
Pricing

Search code, repositories, users, issues, pull requests...

Search

Clear

Search syntax tips

Provide feedback

We read every piece of feedback, and take your input very seriously.

Include my email address so I can be contacted

Saved searches

Use saved searches to filter your results more quickly

Name

Query

To see all available qualifiers, see our documentation.

Appearance settings

You signed in with another tab or window. Reload to refresh your session. You signed out in another tab or window. Reload to refresh your session. You switched accounts on another tab or window. Reload to refresh your session.

Dismiss alert

Caltech-AMBER / ambersim Public

Notifications You must be signed in to change notification settings
Fork 2
Star 7

Code
Issues 12
Pull requests 6
Actions
Projects
Security
Insights

Additional navigation options

Code
Issues
Pull requests
Actions
Projects
Security
Insights

Trajectory Optimization API#46

Merged

alberthli merged 28 commits intomainCaltech-AMBER/ambersim:mainfrom

trajopt-apiCaltech-AMBER/ambersim:trajopt-apiCopy head branch name to clipboard

Dec 5, 2023

Conversation Commits28 (28)Checks Files changed

Merged

Trajectory Optimization API#46
alberthli merged 28 commits intomainfrom
trajopt-api

Commits

Commits on Dec 2, 2023

extremely generic API for trajectory optimization
alberthli
committed
fix spacing
alberthli
committed
remove unnecessary __init__ method (brainfart)
alberthli
committed
some additional massaging for best abstraction + useless scaffolding for shooting methods
alberthli
committed

Commits on Dec 3, 2023

add some informative comments to base.py
alberthli
committed
[maybe] added cost function to base API
alberthli
committed
shooting method APIs, no cost function implemented yet
alberthli
committed
define generic CostFunction API
alberthli
committed
expose a CostFunction field of shooting methods
alberthli
committed
add specific implementation of (non-sparse) quadratic CostFunction with static goal and cost matrices
alberthli
committed

Commits on Dec 4, 2023

fixed missing field in docstrings
alberthli
committed
fixed missing field in docstrings
alberthli
committed
pass non-kwarg functions to vmap since vmap breaks in that case
alberthli
committed
added preliminary dead simple predictive sampling example
alberthli
committed
minor, get from property
alberthli
committed
fixed some params + simplify sampling of us to one line
alberthli
committed
[DIRTY] commit that contains commented out code for pre-allocating data in case we need it later
alberthli
committed
revert to allocating data at shooting time
alberthli
committed
[DIRTY] some additions to the example script for profiling help
alberthli
committed

Commits on Dec 5, 2023

refactor API to take xs instead of qs and vs
alberthli
committed
tests for cost function and its derivatives
alberthli
committed
added smoke test for vanilla predictive sampler
alberthli
committed
remove the example since it's implemented as a benchmark in an upstream PR
alberthli
committed
minor docstring edit
alberthli
committed
ensure predictive sampler also accounts for cost of guess vs. samples
alberthli
committed
add sanity check for predictive sampling
alberthli
committed
added fixture to tests
alberthli
committed
fix stray parenthetical
alberthli
committed

Footer

© 2026 GitHub, Inc.

Footer navigation

Terms
Privacy
Security
Status
Community
Docs
Contact

You can’t perform that action at this time.