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.
☆953May 28, 2025Updated 10 months ago
Alternatives and similar repositories for dial-mpc
Users that are interested in dial-mpc are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusi…☆330Mar 27, 2025Updated last year
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,366Mar 20, 2026Updated 2 weeks ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆445Updated this week
- [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"☆1,949Jan 6, 2026Updated 2 months ago
- ☆340Updated this week
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- Sampling-based model predictive control on GPU with JAX/MJX☆260Updated this week
- ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.☆1,528Mar 20, 2026Updated 2 weeks ago
- An open-source library for GPU-accelerated robot learning and sim-to-real transfer.☆1,846Mar 26, 2026Updated last week
- [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots☆483Mar 30, 2025Updated last year
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,014Nov 28, 2023Updated 2 years ago
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆971Feb 21, 2025Updated last year
- ☆443Jun 12, 2025Updated 9 months ago
- [CoRL 2023] Robot Parkour Learning☆1,015Oct 26, 2025Updated 5 months ago
- [IROS 2025] Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies☆228Jun 16, 2025Updated 9 months ago
- DigitalOcean Gradient AI Platform • AdBuild production-ready AI agents using customizable tools or access multiple LLMs through a single endpoint. Create custom knowledge bases or connect external data.
- Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control☆818May 14, 2024Updated last year
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,626Feb 13, 2025Updated last year
- Optimal Control for Switched Systems☆1,342Mar 25, 2026Updated last week
- Deep RL for MPC control of Quadruped Robot Locomotion☆946Jul 18, 2025Updated 8 months ago
- A Modular Toolkit for Robot Kinematic Optimization☆1,495Updated this week
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,312Jun 16, 2024Updated last year
- Open Source Code for the IROS 2024 Paper☆219Sep 12, 2025Updated 6 months ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆180Nov 26, 2025Updated 4 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆170May 17, 2025Updated 10 months ago
- Proton VPN Special Offer - Get 70% off • AdSpecial partner offer. Trusted by over 100 million users worldwide. Tested, Approved and Recommended by Experts.
- ☆120Sep 19, 2024Updated last year
- Judo: a hackable sampling-based MPC toolbox☆244Mar 24, 2026Updated last week
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆187Apr 14, 2025Updated 11 months ago
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,188Updated this week
- GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.☆1,142Mar 24, 2026Updated last week
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,584Mar 20, 2026Updated 2 weeks ago
- Python inverse kinematics based on MuJoCo.☆1,247Feb 20, 2026Updated last month
- [CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion☆361Jan 17, 2024Updated 2 years ago
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers☆482Aug 29, 2024Updated last year
- Managed Database hosting by DigitalOcean • AdPostgreSQL, MySQL, MongoDB, Kafka, Valkey, and OpenSearch available. Automatically scale up storage and focus on building your apps.
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆567Jul 11, 2024Updated last year
- ☆140Nov 7, 2024Updated last year
- Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated☆341Aug 17, 2025Updated 7 months ago
- Isaac Gym Environments for Legged Robots☆2,845May 29, 2025Updated 10 months ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆279Dec 27, 2025Updated 3 months ago
- A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn☆394Jan 5, 2025Updated last year
- Train a loco-manipulation dog with RL☆400Aug 15, 2024Updated last year