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.
☆768Updated 3 weeks ago
Alternatives and similar repositories for dial-mpc
Users that are interested in dial-mpc are comparing it to the libraries listed below
Sorting:
- Python inverse kinematics based on MuJoCo☆709Updated 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…☆318Updated this week
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,052Updated 3 weeks ago
- A Modular Toolkit for Robot Kinematic Optimization☆815Updated this week
- An open-source library for GPU-accelerated robot learning and sim-to-real transfer.☆1,099Updated this week
- Collection of high-quality robo learning papers for bipedal robots.☆346Updated 3 months ago
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆396Updated 11 months ago
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆872Updated last year
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆712Updated 4 months ago
- ☆589Updated last month
- Awesome Quadrupedal Robots☆773Updated last week
- Fast and simple implementation of RL algorithms, designed to run fully on GPU.☆1,333Updated 3 weeks ago
- A curated list of resources relevant to legged locomotion learning of robotics.☆415Updated last year
- GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.☆570Updated this week
- [CoRL 2023] Robot Parkour Learning☆798Updated last month
- Humanoid Robots Resources☆590Updated this week
- ☆389Updated 9 months ago
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆763Updated last year
- 🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation☆630Updated last month
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers☆347Updated 9 months ago
- ☆463Updated 2 months ago
- [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots☆390Updated 2 months ago
- Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control☆529Updated last year
- External extenstion template based on Isaac Lab☆209Updated last month
- Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)☆722Updated 3 weeks ago
- Official implementation of "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"☆1,119Updated 2 weeks ago
- Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.☆341Updated last year
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,308Updated 3 weeks ago
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"☆485Updated 11 months ago
- Python inverse kinematics based on Pinocchio☆464Updated last month