Ergodic Control Toolbox

Last updated on Apr 21, 2025
GitHub

GitHub link: https://github.com/MurpheyLab/ergodic-control-sandbox

Iterations of iLQR with the Fourier ergodic metric

A toolbox repository that helps with rapid prototyping ergodic control algorithms, topics include:

  • Design differentiable metrics for ergodicity;
  • Efficient trajectory optimization for ergodic control;
  • Extend ergodic control to other smooth manifolds (e.g., Lie groups).
Code
Max Muchen Sun
Max Muchen Sun
Ph.D. Candidate in Robotics

I develop algorithms to make robots self-sufficient.