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.
☆1,006May 28, 2025Updated last year
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…☆341Mar 27, 2025Updated last year
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,471Aug 22, 2026Updated last month
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆524Updated this week
- Sampling-based model predictive control on GPU with JAX/MJX☆307Jul 18, 2026Updated 2 months ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆228Nov 26, 2025Updated 10 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.
- [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"☆2,119Jan 6, 2026Updated 8 months ago
- ☆362Apr 1, 2026Updated 5 months ago
- ☆472Jun 12, 2025Updated last year
- Judo: a hackable sampling-based MPC toolbox☆311May 7, 2026Updated 4 months ago
- [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots☆499Mar 30, 2025Updated last year
- An open-source library for GPU-accelerated robot learning and sim-to-real transfer.☆2,234Updated this week
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆1,072Feb 21, 2025Updated last year
- Deep RL for MPC control of Quadruped Robot Locomotion☆1,028Apr 26, 2026Updated 5 months ago
- Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control☆962May 14, 2024Updated 2 years ago
- Bare Metal GPUs on DigitalOcean Gradient AI • AdPurpose-built for serious AI teams training foundational models, running large-scale inference, and pushing the boundaries of what's possible.
- [IROS 2025] Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies☆242Jun 16, 2025Updated last year
- [CoRL 2023] Robot Parkour Learning☆1,130Oct 26, 2025Updated 11 months ago
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,813Feb 13, 2025Updated last year
- Model Predictive Control in JAX☆278Sep 2, 2026Updated 3 weeks ago
- Optimal Control for Switched Systems☆1,520Updated this week
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,182Nov 28, 2023Updated 2 years ago
- Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research☆3,142Updated this week
- Open Source Code for the IROS 2024 Paper☆229Sep 12, 2025Updated last year
- ☆2,425Jul 24, 2026Updated 2 months ago
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- A Modular Toolkit for Robot Kinematic Optimization☆1,784Apr 1, 2026Updated 5 months ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆377Jul 26, 2026Updated 2 months ago
- ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.☆2,406Sep 22, 2026Updated last week
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆198Apr 14, 2025Updated last year
- [L4DC 2026 (Oral)] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"☆436Apr 9, 2026Updated 5 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆178May 17, 2025Updated last year
- Python inverse kinematics based on MuJoCo.☆1,568Updated this week
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆631Jul 11, 2024Updated 2 years ago
- UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers☆547Jul 20, 2026Updated 2 months ago
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- Repository for our papers: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics and Uncertainty-Awa…☆679Apr 8, 2026Updated 5 months ago
- A lightweight suite of motion imitation methods for training controllers.☆2,354Jun 23, 2026Updated 3 months ago
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"☆846Jul 17, 2024Updated 2 years ago
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,457Jun 16, 2024Updated 2 years ago
- The official codebase of paper "GMT: General Motion Tracking for Humanoid Whole-Body Control"☆442Aug 8, 2025Updated last year
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,311Updated this week
- ☆1,671Updated this week