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safe-control-gym

  • Software
  • Drones and boats
  • Simulator

A benchmark suite of physics-based CartPole and Quadrotor Gym environments built on PyBullet, with symbolic CasADi dynamics, for learning-based control and reinforcement learning research.

Made by Learning Systems and Robotics Lab (LSY), Germany (checked on github.com/learnsyslab (opens in a new tab)).

Source on GitHub: github.com/learnsyslab/safe-control-gym (opens in a new tab). Facts read at commit 6b5391d (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 6b5391d (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Provides CartPole and Quadrotor environments simulated with PyBullet, using symbolic a priori dynamics from CasADi.
  • Includes symbolic safety constraints and input, parameter, and dynamics disturbances to test robustness and generalizability.
  • Implements controllers including PID, LQR, iLQR, linear MPC, GP-MPC, and model-free RL methods SAC, PPO, and DDPG.
  • Offers safety filters such as MPSC, control barrier functions, and a neural network CBF.
  • Runnable example scripts cover quadrotor trajectory tracking, cartpole stabilization, and RL training, configured through YAML overrides.
  • Ships tests and pre-commit linting, and the project is maintained by the University of Toronto's Dynamic Systems Lab.

Written by Robotheca from the project's README (opens in a new tab) at commit 6b5391d.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
Installing the MPC interface requires acados, and PyBullet and Python 3.10 are used.

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
29 Apr 2026 on main
Latest release
v1.0.0 (21 Oct 2024)

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.