The codes are tested on python 3.6 and pyomo 5.7.3. This package can be seen a python version of SDDP.jl v0.0.2. The algorithmic principles and structure of the code are inspired by sddp.jl.

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms ...