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.
☆837Updated 3 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.☆1,141Updated 3 months ago
- Python inverse kinematics based on MuJoCo☆838Updated 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…☆351Updated last week
- Collection of high-quality robo learning papers for bipedal robots.☆378Updated 2 months ago
- An open-source library for GPU-accelerated robot learning and sim-to-real transfer.☆1,346Updated last week
- [CoRL 2023] Robot Parkour Learning☆836Updated 3 months ago
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆454Updated last year
- A curated list of resources relevant to legged locomotion learning of robotics.☆427Updated 2 years ago
- A Modular Toolkit for Robot Kinematic Optimization☆1,058Updated last month
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆819Updated last year
- Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)☆802Updated 3 months ago
- ☆622Updated 3 months ago
- ☆538Updated this week
- Awesome Quadrupedal Robots☆831Updated last week
- [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"☆1,528Updated 2 weeks ago
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,096Updated last year
- A fast and simple implementation of RL algorithms, designed to run fully on GPU.☆1,555Updated last month
- External extenstion template based on Isaac Lab☆243Updated 3 months ago
- Python inverse kinematics using Pinocchio and QP solvers☆533Updated 2 weeks ago
- Access 125+ robot descriptions from the main Python robotics frameworks☆606Updated 3 weeks ago
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆811Updated 6 months ago
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers☆380Updated last year
- Deploy walk-these-ways project on Unitree Go2☆445Updated last year
- GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.☆697Updated this week
- ☆437Updated 11 months ago
- [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots☆438Updated 5 months ago
- 🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation☆645Updated 3 months ago
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"☆553Updated last year
- Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control☆604Updated last year
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,392Updated 2 weeks ago