LeCAR-Lab / model-based-diffusion
Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dynamics model to run the reverse denoising process to generate high-quality trajectories.
☆120Updated last month
Related projects: ⓘ
- Official implementation of Diffusion Policy Policy Optimization, arxiv 2024☆127Updated this week
- ☆116Updated 3 months ago
- Train a loco-manipulation dog with RL☆107Updated last month
- Implementation of Motion Planning Diffusion☆79Updated 4 months ago
- terrain-robustness benchmark for legged locomotion☆38Updated last year
- Code release accompanying DribbleBot: Dynamic Legged Manipulation in the Wild☆91Updated 10 months ago
- Motion Imitation from Casual Videos for Legged Robots☆57Updated 2 months ago
- Code for paper, "A Comparison of Imitation Learning Algorithms for Bimanual Manipulation" (Drolet et al., 2024)☆46Updated last month
- Official codebase for Perceptive Locomotion Under Dynamic Environments (PRELUDE)☆60Updated last year
- [CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion☆120Updated 8 months ago
- ☆44Updated last year
- ☆40Updated last month
- ViNL: Visual Navigation and Locomotion over Obstacles (ICRA 2023)☆79Updated 6 months ago
- ☆71Updated last year
- Learning Optimal Policies Through Contact in Differentiable Simulation☆80Updated 4 months ago
- State-of-the-art method for model-based dexterous manipulation☆72Updated last month
- Repository for our paper: Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions. (ICRA 2023)☆27Updated 5 months ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆168Updated last week
- Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated☆172Updated 3 weeks ago
- Natural Locomotion, Jumping and Recovery of Quadruped Robot A1 with AMP☆69Updated last year
- [CVPR 2022] Codebase for "Coupling Vision and Proprioception for Navigation of Legged Robots"☆83Updated 2 years ago
- Body Transformer: Leveraging Robot Embodiment for Policy Learning☆87Updated last month
- Project Code for the paper "Learning Visual Locomotion with Cross-Modal Supervision" (ICRA2023)☆69Updated 11 months ago
- A collection of hardware parts for robotics research☆38Updated 8 months ago
- Train quadruped locomotion using reinforcement learning in Mujoco☆32Updated 3 months ago
- Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conferen…☆44Updated 5 months ago
- Code for SAPG: Split and Aggregate Policy Gradients (ICML 2024)☆37Updated this week
- Codebase for the paper "To the Noise and Back: Diffusion for Shared Autonomy"☆16Updated 9 months ago
- C++ and Python SDK for ARX5 robot arm develeoped by @yihuai-gao (@real-stanford)☆27Updated last week
- Code for Rapid Locomotion via Reinforcement Learning☆166Updated last year