A distributed whole-body model predictive control for quadruped robots
☆91Apr 22, 2025Updated last year
Alternatives and similar repositories for DWMPC
Users that are interested in DWMPC are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆535Oct 16, 2026Updated 2 weeks ago
- A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data☆142Oct 15, 2026Updated 2 weeks ago
- A Proprioceptive-Only Benchmark for Quadruped Robot's State Estimation☆28Updated this week
- Mujoco Gym environment for the control of quadruped robots☆80Oct 11, 2026Updated 2 weeks ago
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆33Oct 9, 2026Updated 3 weeks 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.
- Code for the paper Reactive Landing Controller for Quadruped Robots☆20Aug 30, 2023Updated 3 years ago
- Cross-State Transition Attention Transformer for improved robotic manipulation with better temporal modeling; https://arxiv.org/abs/2510.…☆19Mar 8, 2026Updated 7 months ago
- Model Predictive Control in JAX☆279Sep 2, 2026Updated last month
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆90Jun 17, 2025Updated last year
- Towards better athletic intelligence☆190Apr 18, 2026Updated 6 months ago
- ☆16Apr 7, 2025Updated last year
- ☆67Oct 26, 2024Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆171Sep 9, 2025Updated last year
- An IsaacLab DirectEnv for performing teleoperation with Unitree Go2 + AgileX Piper, with support for sim-to-sim and sim-to-real pipelines☆35Oct 6, 2026Updated 3 weeks 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.
- Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation☆121Jul 21, 2026Updated 3 months ago
- ☆34May 30, 2025Updated last year
- ☆362Apr 1, 2026Updated 6 months ago
- A collection of MPC walking scripts with various models☆44Feb 5, 2025Updated last year
- [Humanoids 2024 award finalist] Online DNN-Driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment☆22Feb 5, 2025Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆72Jul 5, 2024Updated 2 years ago
- Contact estimation for quadruped robots.☆121Nov 5, 2021Updated 4 years ago
- Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation☆15Nov 10, 2025Updated 11 months ago
- Tools for exploiting Morphological Symmetries in robotics☆111May 7, 2026Updated 5 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.
- Open Source Code for the IROS 2024 Paper☆227Sep 12, 2025Updated last year
- Code to train a compliant whole-body controller for the Unitree B1 + Z1☆188Sep 27, 2024Updated 2 years ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆96Sep 10, 2024Updated 2 years ago
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆354Mar 28, 2025Updated last year
- adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.☆227Oct 12, 2026Updated 2 weeks ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆387Oct 18, 2026Updated last week
- Quaternion Model Predictive Control for Legged Robots☆78Sep 11, 2025Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆46Apr 7, 2025Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆58Feb 19, 2023Updated 3 years ago
- Simple, predictable pricing with DigitalOcean hosting • AdAlways know what you'll pay with monthly caps and flat pricing. Enterprise-grade infrastructure trusted by 600k+ customers.
- Deep RL for MPC control of Quadruped Robot Locomotion☆1,033Apr 26, 2026Updated 6 months ago
- An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pip…☆139Updated this week
- code for SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control☆17May 26, 2025Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆48Oct 6, 2026Updated 3 weeks ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆25May 20, 2025Updated last year
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆29Feb 27, 2024Updated 2 years ago
- Suite of parametrized controller with simulation environments for co-design of Humanoid Robots☆26Nov 3, 2025Updated 11 months ago