differentiable-optimization

A library for differentiable nonlinear optimization

Pytorch-based framework for solving parametric constrained optimization problems, physics-informed system identification, and parametric model predictive control.

TorchOpt is an efficient library for differentiable optimization built upon PyTorch.

Official repo for the paper "SAGE: SLAM with Appearance and Geometry Prior for Endoscopy" (ICRA 2022)

Mathematical Programming in JAX

Safe robot learning

Official code repository for ∇-Prox: Differentiable Proximal Algorithm Modeling for Large-Scale Optimization (SIGGRAPH TOG 2023)

Implementation and examples from Trajectory Optimization with Optimization-Based Dynamics https://arxiv.org/abs/2109.04928

[L4DC 2025] Automatic hyperparameter tuning for DeePC. Built by Michael Cummins at the Automatic Control Laboratory, ETH Zurich.

Differentiable curve and surface similarity measures.

Preliminary code for the paper "Learning Deterministic Surrogates for Robust Convex QCQPs".

Tutorial on Deep Declarative Networks

Collection of differentiable methods for robotics applications implemented with Pytorch.