A software framework for research in Reinforcement Learning-Augmented Model Predictive Control. IBRIDO glues together several sibling packages:
| Package | Description |
|---|---|
| AugMPC | RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion |
| AugMPCEnvs | World interfaces (Isaac Sim, MuJoCo, XBot2) and training environments implementations for AugMPC |
| MPCHive | Parallel MPC cluster manager, based on a client-server architecture, for use with data-hungry applications |
| EigenIPC | Provides the shared-memory tensors and other primitives that all components use to exchange states, commands, references, and metadata |
| MPCViz | Minimal RViz-based tool for visualizing MPC solutions in real-time |
The framework can be easily installed, configured and experimented with using ibrido-containers.