We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enables real-time, contact-rich locomotion and manipulation using a single control policy derived from Model-Predictive Path Integral (MPPI) control.
☆182May 18, 2025Updated last year
Alternatives and similar repositories for RTWholeBodyMPPI
Users that are interested in RTWholeBodyMPPI are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆146Apr 22, 2026Updated 3 months ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆493Updated this week
- Model Predictive Control in JAX☆263Updated this week
- Sampling-based model predictive control on GPU with JAX/MJX☆291Updated this week
- Judo: a hackable sampling-based MPC toolbox☆288May 7, 2026Updated 2 months 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.
- Quaternion Model Predictive Control for Legged Robots☆78Sep 11, 2025Updated 10 months ago
- Generative Predictive Control☆75Mar 26, 2026Updated 3 months ago
- ☆61Oct 26, 2024Updated last year
- Learning Model for Aggressive Jumping Maneuvers☆32Mar 5, 2025Updated last year
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆348Dec 27, 2025Updated 6 months ago
- A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control☆147Nov 18, 2025Updated 8 months ago
- Mujoco Gym environment for the control of quadruped robots☆78Jul 15, 2026Updated last week
- Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)☆301Jul 9, 2026Updated 2 weeks ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆45Updated this week
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click. Zero configuration with optimized deployments.
- Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated☆358Aug 17, 2025Updated 11 months ago
- Chance-Constrained MPC simulation for quadrupedal robots navigating uneven terrains and handling random payloads.☆28Aug 14, 2025Updated 11 months ago
- A generic sampling-based MPC python library based on jax☆42Jan 30, 2026Updated 5 months ago
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆987May 28, 2025Updated last year
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆164Sep 9, 2025Updated 10 months ago
- ☆15Apr 7, 2025Updated last year
- Deep RL for MPC control of Quadruped Robot Locomotion☆1,008Apr 26, 2026Updated 2 months ago
- Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation☆98May 7, 2026Updated 2 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆87Sep 10, 2024Updated last year
- Managed Database hosting by DigitalOcean • AdPostgreSQL, MySQL, MongoDB, Kafka, Valkey, and OpenSearch available. Automatically scale up storage and focus on building your apps.
- Model Predictive Path Integral Control (MPPI) with PyTorch☆226May 15, 2026Updated 2 months ago
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆253Dec 28, 2025Updated 6 months ago
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆138Nov 11, 2025Updated 8 months ago
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch☆741Mar 15, 2026Updated 4 months ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Aug 30, 2023Updated 2 years ago
- ☆360Apr 1, 2026Updated 3 months ago
- Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusi…☆339Mar 27, 2025Updated last year
- Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4…☆144May 22, 2024Updated 2 years ago
- Managed Database hosting by DigitalOcean • AdPostgreSQL, MySQL, MongoDB, Kafka, Valkey, and OpenSearch available. Automatically scale up storage and focus on building your apps.
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆212Nov 26, 2025Updated 7 months ago
- Model predictive path integral control in jax☆17Feb 8, 2026Updated 5 months ago
- A distributed whole-body model predictive control for quadruped robots☆88Apr 22, 2025Updated last year
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆90Jun 17, 2025Updated last year
- Optimal Control for Switched Systems☆1,468Updated this week
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation☆118Jul 23, 2025Updated last year
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆74Jun 27, 2026Updated 3 weeks ago