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)
☆516Sep 14, 2026Updated this week
Alternatives and similar repositories for Quadruped-PyMPC
Users that are interested in Quadruped-PyMPC 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 distributed whole-body model predictive control for quadruped robots☆91Apr 22, 2025Updated last year
- Model Predictive Control in JAX☆276Sep 2, 2026Updated 2 weeks ago
- A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data☆136Updated this week
- Deep RL for MPC control of Quadruped Robot Locomotion☆1,027Apr 26, 2026Updated 4 months ago
- Mujoco Gym environment for the control of quadruped robots☆80Jul 15, 2026Updated 2 months ago
- Proton VPN Special Offer - Get 70% off • AdSpecial partner offer. Trusted by over 100 million users worldwide. Tested, Approved and Recommended by Experts.
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆191May 18, 2025Updated last year
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆1,000May 28, 2025Updated last year
- Towards better athletic intelligence☆190Apr 18, 2026Updated 5 months ago
- Awesome Quadrupedal Robots☆1,163Jul 29, 2026Updated last month
- ☆362Apr 1, 2026Updated 5 months ago
- Optimal Control for Switched Systems☆1,518Sep 7, 2026Updated last week
- Sampling-based model predictive control on GPU with JAX/MJX☆304Jul 18, 2026Updated 2 months ago
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,803Feb 13, 2025Updated last year
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,172Nov 28, 2023Updated 2 years ago
- Managed hosting for WordPress and PHP on Cloudways • AdManaged hosting for WordPress, Magento, Laravel, or PHP apps, on multiple cloud providers. Deploy in minutes on Cloudways by DigitalOcean.
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆264Dec 28, 2025Updated 8 months ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆153Apr 22, 2026Updated 4 months ago
- An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pip…☆126Updated this week
- A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control☆147Nov 18, 2025Updated 10 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆169Sep 9, 2025Updated last year
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆94Sep 10, 2024Updated 2 years ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆220Nov 26, 2025Updated 9 months ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆373Jul 26, 2026Updated last month
- Quaternion Model Predictive Control for Legged Robots☆78Sep 11, 2025Updated last year
- 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.
- PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encode…☆758Updated this week
- ☆66Oct 26, 2024Updated last year
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,453Jun 16, 2024Updated 2 years ago
- Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing☆124Oct 2, 2025Updated 11 months ago
- Tools for exploiting Morphological Symmetries in robotics☆108May 7, 2026Updated 4 months ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆28Feb 27, 2024Updated 2 years ago
- An open source implementation of MIT Cheetah 3 controllers☆833Dec 5, 2022Updated 3 years ago
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆33Sep 2, 2026Updated 2 weeks ago
- Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)☆173Sep 1, 2025Updated last year
- GPUs on demand by Runpod - Special Offer Available • AdRun AI, ML, and HPC workloads on powerful cloud GPUs—without limits or wasted spend. Deploy GPUs in under a minute and pay by the second.
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆629Jul 11, 2024Updated 2 years ago
- ROS2-Control implementations for Quadruped robots, include sim2real☆572Feb 22, 2026Updated 6 months ago
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆51May 4, 2026Updated 4 months ago
- Train a loco-manipulation dog with RL☆449Aug 15, 2024Updated 2 years ago
- Open Source Code for the IROS 2024 Paper☆229Sep 12, 2025Updated last year
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆349Mar 28, 2025Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆71Jul 5, 2024Updated 2 years ago