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)
☆506Aug 28, 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☆273Jul 22, 2026Updated last month
- A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data☆129Aug 5, 2026Updated 3 weeks ago
- Deep RL for MPC control of Quadruped Robot Locomotion☆1,020Apr 26, 2026Updated 4 months ago
- Mujoco Gym environment for the control of quadruped robots☆80Jul 15, 2026Updated last month
- 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.
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆190May 18, 2025Updated last year
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆996May 28, 2025Updated last year
- Towards better athletic intelligence☆189Apr 18, 2026Updated 4 months ago
- Awesome Quadrupedal Robots☆1,154Jul 29, 2026Updated last month
- ☆362Apr 1, 2026Updated 4 months ago
- Optimal Control for Switched Systems☆1,506Jul 20, 2026Updated last month
- Sampling-based model predictive control on GPU with JAX/MJX☆304Jul 18, 2026Updated last month
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,796Feb 13, 2025Updated last year
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,164Nov 28, 2023Updated 2 years ago
- AI Agents on DigitalOcean Gradient AI Platform • AdBuild production-ready AI agents using customizable tools or access multiple LLMs through a single endpoint. Create custom knowledge bases or connect external data.
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆259Dec 28, 2025Updated 8 months ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆151Apr 22, 2026Updated 4 months ago
- A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control☆147Nov 18, 2025Updated 9 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆169Sep 9, 2025Updated 11 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆92Sep 10, 2024Updated last year
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆217Nov 26, 2025Updated 9 months ago
- An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pip…☆120Updated this week
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆364Jul 26, 2026Updated last month
- Quaternion Model Predictive Control for Legged Robots☆78Sep 11, 2025Updated 11 months ago
- AI Agents on DigitalOcean Gradient AI Platform • AdBuild production-ready AI agents using customizable tools or access multiple LLMs through a single endpoint. Create custom knowledge bases or connect external data.
- PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encode…☆688Updated this week
- ☆64Oct 26, 2024Updated last year
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,440Jun 16, 2024Updated 2 years ago
- Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing☆122Oct 2, 2025Updated 10 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
- Tools for exploiting Morphological Symmetries in robotics☆108May 7, 2026Updated 3 months ago
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆50May 4, 2026Updated 3 months ago
- An open source implementation of MIT Cheetah 3 controllers☆831Dec 5, 2022Updated 3 years ago
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆32Updated this week
- Open source password manager - Proton Pass • AdSecurely store, share, and autofill your credentials with Proton Pass, the end-to-end encrypted password manager trusted by millions.
- Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)☆174Sep 1, 2025Updated 11 months ago
- Train a loco-manipulation dog with RL☆440Aug 15, 2024Updated 2 years ago
- Open Source Code for the IROS 2024 Paper☆229Sep 12, 2025Updated 11 months ago
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆348Mar 28, 2025Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆71Jul 5, 2024Updated 2 years ago
- [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion☆624Jul 11, 2024Updated 2 years ago
- Batched SRBD-MPC tailored for learning and model-based combined research.☆23Oct 30, 2025Updated 9 months ago