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.
☆895Updated 6 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:
- Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research.☆1,054Updated this week
- Python inverse kinematics based on MuJoCo☆1,034Updated 2 weeks ago
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,265Updated 5 months ago
- An open-source library for GPU-accelerated robot learning and sim-to-real transfer.☆1,594Updated this week
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆388Updated last week
- Collection of high-quality robo learning papers for bipedal robots.☆403Updated 2 months ago
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆511Updated last year
- ☆670Updated 3 weeks ago
- A Modular Toolkit for Robot Kinematic Optimization☆1,171Updated 2 months ago
- ☆664Updated 2 months ago
- A curated list of resources relevant to legged locomotion learning of robotics.☆450Updated 2 years ago
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆904Updated 2 years ago
- [CoRL 2023] Robot Parkour Learning☆912Updated last month
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆898Updated 9 months ago
- Awesome Quadrupedal Robots☆928Updated last week
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,206Updated last year
- External extenstion template based on Isaac Lab☆263Updated 2 months ago
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,478Updated last month
- Python inverse kinematics using Pinocchio and QP solvers☆611Updated last week
- Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)☆893Updated 6 months ago
- 🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation☆677Updated 6 months ago
- A fast and simple implementation of learning algorithms for robotics.☆1,896Updated this week
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers☆437Updated last year
- ☆464Updated last year
- [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"☆1,757Updated 2 months ago
- Access 135+ robot descriptions from the main Python robotics frameworks☆657Updated this week
- GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.☆897Updated this week
- Deploy walk-these-ways project on Unitree Go2☆502Updated last year
- Humanoid Robots Resources☆792Updated last week
- [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots☆463Updated 7 months ago