MPPI in JAX

From the sampling equations to a controller you can run and change.

Download the uv project Read the theory notes →

Explore a recorded run

These animations were generated by the JAX implementation with seed 0. Play or scrub through the motion and predicted trajectories. To change parameters and recompute, download the project and run uv run mppi-play.

Double integrator trajectory and controls

Double integrator → Unicycle trajectory and controls

Unicycle → Pendulum swing-up and controls

Pendulum swing-up →

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