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.
☆913Updated 7 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.☆1,268Updated this week
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,302Updated 7 months ago
- Python inverse kinematics based on MuJoCo☆1,093Updated last week
- Collection of high-quality robo learning papers for bipedal robots.☆413Updated 4 months ago
- An open-source library for GPU-accelerated robot learning and sim-to-real transfer.☆1,659Updated last month
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆397Updated last week
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆943Updated 2 years ago
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆530Updated last year
- ☆692Updated 3 months ago
- ☆745Updated last month
- A Modular Toolkit for Robot Kinematic Optimization☆1,279Updated last week
- [CoRL 2023] Robot Parkour Learning☆946Updated 2 months ago
- Python inverse kinematics using Pinocchio and QP solvers☆647Updated 3 weeks ago
- A curated list of resources relevant to legged locomotion learning of robotics.☆457Updated 2 years ago
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆921Updated 10 months ago
- Access 135+ robot descriptions from the main Python robotics frameworks☆668Updated 3 weeks ago
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,515Updated last month
- Awesome Quadrupedal Robots☆966Updated last month
- 🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation☆687Updated 7 months ago
- External extenstion template based on Isaac Lab☆269Updated 3 months ago
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers☆450Updated last year
- ☆479Updated last year
- [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"☆1,820Updated 3 months ago
- Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)☆917Updated 7 months ago
- GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.☆965Updated this week
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,243Updated last year
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"☆696Updated last year
- Humanoid Robots Resources☆824Updated last month
- A fast and simple implementation of learning algorithms for robotics.☆2,033Updated last month
- ☆803Updated 2 weeks ago