Examples

Explore the accompanying examples repository for end-to-end applications and backend comparisons:

• Bilevel Optimization — An end-to-end bilevel trajectory optimization example in which the inner QP enforces safety and smoothness, while an outer L-BFGS loop minimizes travel time.
• Learning a Multiagent Safety Filter — Learn a multi-agent control barrier function safety filter from expert demonstrations.
• Autotuning MPC — Learn MPC cost weights from demonstration trajectories.
• Explicit / Implicit comparison — Compare qpax's implicit and explicit backends on the same problem.

Projects using qpax

The following open-source projects use qpax in compelling real-world applications:

• cbfpy: Control Barrier Functions in Python and JAX.
• oscbf: Safe, high-performance, task-consistent manipulator control.
• frax: Fast robot kinematics and dynamics in JAX.

These projects are good references for seeing how qpax can be used beyond the examples in this repository.

Contributing

If you are using qpax in an interesting application and would like it featured here, please open an issue or pull request in the examples repository.