Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
☆113Sep 15, 2025Updated 5 months ago
Alternatives and similar repositories for mujoco_mpc_deploy
Users that are interested in mujoco_mpc_deploy are comparing it to the libraries listed below
Sorting:
- A distributed whole-body model predictive control for quadruped robots☆77Apr 22, 2025Updated 10 months ago
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆42May 2, 2025Updated 10 months ago
- ☆55Oct 26, 2024Updated last year
- Code for the paper Reactive Landing Controller for Quadruped Robots☆20Aug 30, 2023Updated 2 years ago
- Papers related to Legged locomotion☆18Oct 16, 2024Updated last year
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆430Jan 19, 2026Updated last month
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆152May 18, 2025Updated 9 months ago
- Quaternion Model Predictive Control for Legged Robots☆74Sep 11, 2025Updated 5 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆76Sep 10, 2024Updated last year
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆50Jun 1, 2023Updated 2 years ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆167May 17, 2025Updated 9 months ago
- Community-built test set to benchmark QP solvers☆15May 7, 2025Updated 9 months ago
- Official Code for "Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning"☆135May 16, 2025Updated 9 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆144Sep 9, 2025Updated 5 months ago
- ☆175Dec 23, 2023Updated 2 years ago
- Efficient optimal control solvers for robotic systems.☆309Dec 22, 2022Updated 3 years ago
- Sampling-based model predictive control on GPU with JAX/MJX☆251Feb 21, 2026Updated last week
- LTV MPC for Quadruped Locomotion☆17Oct 31, 2023Updated 2 years ago
- ☆18Mar 2, 2025Updated last year
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆179Apr 14, 2025Updated 10 months ago
- ☆239Feb 2, 2026Updated last month
- Some good robot reinforcement learning projects and papers☆74Mar 26, 2024Updated last year
- Real-time behaviour synthesis with MuJoCo, using Predictive Control☆1,558Feb 18, 2026Updated last week
- C++ Implementation of MPPI-IPDDP (Model Predictive Path Integral - Interior Point Differential Dynamic Programming) and Testing with MPPI…☆19Aug 13, 2024Updated last year
- Model Predictive Control in JAX☆176Feb 13, 2026Updated 2 weeks ago
- phase-based Observations, Rewards, Coupling Ablation☆49Mar 7, 2024Updated last year
- Quadruped Tasks extension based on Isaac Lab.☆49Feb 23, 2026Updated last week
- ☆26Jul 14, 2025Updated 7 months ago
- Reverse Curriculum RL approach for robodog climbing on a skateboard☆32Nov 2, 2025Updated 4 months ago
- ☆139Nov 7, 2024Updated last year
- Representation-Free Model Predictive Control for Dynamic Quadruped☆235Feb 28, 2025Updated last year
- Deep RL for MPC control of Quadruped Robot Locomotion☆914Jul 18, 2025Updated 7 months ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆50Jan 30, 2026Updated last month
- Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusi…☆327Mar 27, 2025Updated 11 months ago
- Official implementation of "Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots"☆92May 16, 2025Updated 9 months ago
- Planning framework for legged locomotion☆20Jul 12, 2024Updated last year
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆25Feb 27, 2024Updated 2 years ago
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆159Dec 14, 2022Updated 3 years ago