LeCAR-Lab / dial-mpcLinks
Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.
☆872Updated 5 months ago
Alternatives and similar repositories for dial-mpc
Users that are interested in dial-mpc are comparing it to the libraries listed below
Sorting:
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,220Updated 4 months ago
- Collection of high-quality robo learning papers for bipedal robots.☆391Updated last month
- Python inverse kinematics based on MuJoCo☆948Updated 3 weeks ago
- An open-source library for GPU-accelerated robot learning and sim-to-real transfer.☆1,501Updated 3 weeks ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆372Updated last week
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆489Updated last year
- [CoRL 2023] Robot Parkour Learning☆879Updated 5 months ago
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆874Updated last year
- Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research.☆786Updated last week
- A curated list of resources relevant to legged locomotion learning of robotics.☆438Updated 2 years ago
- A Modular Toolkit for Robot Kinematic Optimization☆1,142Updated last month
- ☆643Updated last month
- ☆624Updated this week
- Awesome Quadrupedal Robots☆898Updated last week
- Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)☆865Updated 5 months ago
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆876Updated 8 months ago
- Access 135+ robot descriptions from the main Python robotics frameworks☆636Updated last month
- External extenstion template based on Isaac Lab☆260Updated last month
- 🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation☆664Updated 5 months ago
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,175Updated last year
- [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"☆1,697Updated last month
- A fast and simple implementation of RL algorithms, designed to run fully on GPU.☆1,756Updated last week
- A curated list of awesome NVIDIA Issac Gym frameworks, papers, software, and resources☆1,052Updated last week
- Python inverse kinematics using Pinocchio and QP solvers☆583Updated last week
- GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.☆850Updated this week
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,454Updated last week
- ☆453Updated last year
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers☆415Updated last year
- Humanoid Robots Resources☆756Updated this week
- Deploy walk-these-ways project on Unitree Go2☆489Updated last year