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.
☆966May 28, 2025Updated 11 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…☆333Mar 27, 2025Updated last year
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,393May 2, 2026Updated last week
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆464May 4, 2026Updated last week
- Sampling-based model predictive control on GPU with JAX/MJX☆268Updated this week
- [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"☆2,016Jan 6, 2026Updated 4 months ago
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click. Zero configuration with optimized deployments.
- ☆346Apr 1, 2026Updated last month
- ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.☆1,657May 7, 2026Updated last week
- An open-source library for GPU-accelerated robot learning and sim-to-real transfer.☆1,932Updated this week
- [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots☆487Mar 30, 2025Updated last year
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,061Nov 28, 2023Updated 2 years ago
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆997Feb 21, 2025Updated last year
- ☆451Jun 12, 2025Updated 11 months ago
- [CoRL 2023] Robot Parkour Learning☆1,038Oct 26, 2025Updated 6 months ago
- [IROS 2025] Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies☆230Jun 16, 2025Updated 11 months ago
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control☆844May 14, 2024Updated 2 years ago
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,676Feb 13, 2025Updated last year
- Optimal Control for Switched Systems☆1,399Updated this week
- Deep RL for MPC control of Quadruped Robot Locomotion☆968Apr 26, 2026Updated 2 weeks ago
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,357Jun 16, 2024Updated last year
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆171May 17, 2025Updated 11 months ago
- A Modular Toolkit for Robot Kinematic Optimization☆1,542Apr 1, 2026Updated last month
- ☆120Sep 19, 2024Updated last year
- Open Source Code for the IROS 2024 Paper☆226Sep 12, 2025Updated 8 months ago
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆191Nov 26, 2025Updated 5 months ago
- Judo: a hackable sampling-based MPC toolbox☆268May 7, 2026Updated last week
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆189Apr 14, 2025Updated last year
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,209May 5, 2026Updated last week
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,623Apr 23, 2026Updated 3 weeks ago
- GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware.☆1,229Updated this week
- [CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion☆379Jan 17, 2024Updated 2 years ago
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers☆498Aug 29, 2024Updated last year
- Python inverse kinematics based on MuJoCo.☆1,336Updated this week
- Virtual machines for every use case on DigitalOcean • AdGet dependable uptime with 99.99% SLA, simple security tools, and predictable monthly pricing with DigitalOcean's virtual machines, called Droplets.
- ☆139Nov 7, 2024Updated last year
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆584Jul 11, 2024Updated last year
- Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated☆346Aug 17, 2025Updated 8 months ago
- Isaac Gym Environments for Legged Robots☆2,943May 29, 2025Updated 11 months ago
- A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn☆402Jan 5, 2025Updated last year
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"☆798Jul 17, 2024Updated last year
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆304Dec 27, 2025Updated 4 months ago