Software

I am actively involved in developing open-source software for robotics research, with a focus on numerical optimization and Model Predictive Control (MPC).

I am one of the main developers and managers of the mim_solvers library, an efficient numerical optimization solver tailored for nonlinear Model-Predictive Control, compatible with the Crocoddyl library.

I contributed to the Crocoddyl library by implementing constrained forward dynamics derivatives in moving coordinates, enhancing the library’s capabilities for contact tasks.

I also contributed to the development and democratization of nonlinear MPC in the robotics community through the croco_mpc_utils plugin and introductory examples to Crocoddyl minimal_examples_crocoddyl. These tools enable rapid prototyping of Optimal Control Problems in Crocoddyl through templated configuration files and provides visualization of solutions, effectively lowering the barrier of entry for new users.

You can visit my GitHub page to find more about my software activity.