iit-DLSLab / Quadruped-PyMPCLinks
A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)
☆414Updated 2 weeks ago
Alternatives and similar repositories for Quadruped-PyMPC
Users that are interested in Quadruped-PyMPC are comparing it to the libraries listed below
Sorting:
- Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated☆329Updated 5 months ago
- Towards better athletic intelligence☆176Updated 2 weeks ago
- PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encode…☆352Updated this week
- Collection of high-quality robo learning papers for bipedal robots.☆426Updated 5 months ago
- ☆252Updated last year
- A curated list of resources relevant to legged locomotion learning of robotics.☆467Updated 2 years ago
- Train quadruped locomotion using reinforcement learning in Mujoco☆119Updated last year
- Code for Rapid Locomotion via Reinforcement Learning☆273Updated 2 years ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆235Updated last month
- External extenstion template based on Isaac Lab☆272Updated 4 months ago
- Supplementary materials for "Learning Locomotion over Challenging Terrain"☆239Updated 5 years ago
- [CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion☆347Updated 2 years ago
- ☆209Updated 8 months ago
- ☆269Updated last year
- Set of robot URDFs for benchmarking and developed examples.☆249Updated last week
- two wheel legged robot for IsaacLab - reinforcement learning☆262Updated last month
- ☆321Updated 3 weeks ago
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆932Updated 8 months ago
- Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.☆402Updated last year
- Judo: a hackable sampling-based MPC toolbox☆223Updated 2 weeks ago
- Rhoban Planning and Control☆268Updated 2 weeks ago
- Humanoid walking controller with various baseline methods☆154Updated 3 months ago
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆310Updated 10 months ago
- Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls☆39Updated 2 years ago
- Sampling-based model predictive control on GPU with JAX/MJX☆244Updated 7 months ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆146Updated 8 months ago
- Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)☆152Updated 5 months ago
- Learn how to train a quadruped robot to walk using reinforcement learning, from defining actions and observations to designing rewards an…☆217Updated 11 months ago
- Tutorial on how to get started with MuJoCo Simulation Platform. MuJoCo stands for Multi-Joint dynamics with Contact. It was acquired and …☆311Updated 9 months ago
- ☆290Updated 3 years ago