MPC-guided RL for Humanoid Locomotion and Manipulation
☆111Jun 10, 2026Updated 3 months ago
Alternatives and similar repositories for mpc-rl
Users that are interested in mpc-rl are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Source Code for MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation on Humanoid Robots with Parallel Differential…☆33Mar 26, 2026Updated 6 months ago
- ☆198Jun 9, 2026Updated 4 months ago
- piMPC: A Parallel-in-horizon and Construction-free NMPC Solver☆61May 25, 2026Updated 4 months ago
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆265Dec 28, 2025Updated 9 months ago
- Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation☆117May 7, 2026Updated 5 months ago
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation☆122Jul 23, 2025Updated last year
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆382Oct 1, 2026Updated last week
- [arXiv 2025] ResMimic: From General Motion Tracking to Humanoid Whole-Body Loco-Manipulation via Residual Learning☆73Mar 24, 2026Updated 6 months ago
- MultiModalWBC is a fully open-source, IsaacLab-based framework for multi-modal whole-body control, designed for motion imitation, motion …☆193Jun 16, 2026Updated 3 months ago
- Codebase for Oracle Guided Multi-mode Policies in Isaac Lab☆26Nov 28, 2025Updated 10 months ago
- Model Predictive Control in JAX☆279Sep 2, 2026Updated last month
- RL-Augmented Model Predictive Control for Non-Gaited Legged and Hybrid Locomotion☆38Jul 18, 2026Updated 2 months ago
- Open Source Code for RA-L 2025 Paper☆69Oct 1, 2025Updated last year
- IsaacLab simulation code using IsaacSim4.5. The code will be integrated to the latest Lab code soon.☆16Sep 29, 2025Updated last year
- 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.
- code for SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control☆18May 26, 2025Updated last year
- Quaternion Model Predictive Control for Legged Robots☆78Sep 11, 2025Updated last year
- Open-source code of Floating-Base Deep Lagrangian Networks (FeLaN).☆27Sep 21, 2026Updated 2 weeks ago
- ☆273Oct 2, 2026Updated last week
- A humanoid bipedal walking control repo using NMPC and WBC on ROS2, and simulation with mujoco. Contact: bth@mail.ustc.edu.cn☆42Mar 2, 2025Updated last year
- Batched SRBD-MPC tailored for learning and model-based combined research.☆23Oct 30, 2025Updated 11 months ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆528Updated this week
- TurboMPC: Fast, Scalable, and Differentiable Model Predictive Control on the GPU☆140Jul 23, 2026Updated 2 months ago
- PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encode…☆781Updated this week
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- [L4DC 2026 (Oral)] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"☆436Apr 9, 2026Updated 5 months ago
- [Humanoids 2024 award finalist] Online DNN-Driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment☆21Feb 5, 2025Updated last year
- A Unified and Fine-Grained Controller for HumanoidLoco-Manipulation☆16Feb 5, 2026Updated 8 months ago
- Reverse Curriculum RL approach for robodog climbing on a skateboard☆35Jul 13, 2026Updated 2 months ago
- Ego-Vision World Model for Humanoid Contact Planning☆199Dec 24, 2025Updated 9 months ago
- ☆15Apr 7, 2025Updated last year
- Algorithm implementation for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics☆56Jan 26, 2026Updated 8 months ago
- ROS2 version of OCS2, refactor with modern-cmake☆179Sep 20, 2026Updated 2 weeks ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆94Sep 10, 2024Updated 2 years ago
- Serverless GPU API endpoints on Runpod - Get Bonus Credits • AdSkip the infrastructure headaches. Auto-scaling, pay-as-you-go, no-ops approach lets you focus on innovating your application.
- An IsaacLab extension by DLS for performing trash collection with legged robots☆25Aug 29, 2026Updated last month
- A ROS 2 framework for humanoid robot simulation and control, developed by the Computational Robotics Lab (CRL) at ETH Zurich.☆47Feb 10, 2026Updated 7 months ago
- ☆27Dec 27, 2025Updated 9 months ago
- CoRL2025 UniFP: Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation☆326Oct 26, 2025Updated 11 months ago
- One policy. Any motion. Train universal whole-body tracking in mjlab—swap clips, not checkpoints.☆169Sep 30, 2026Updated last week
- Model predictive control based on data-driven model☆29Aug 4, 2023Updated 3 years ago
- This repository reproduces the Attention-Based Map Encoding (AME) method from the paper Attention-Based Map Encoding for Learning General…☆322May 5, 2026Updated 5 months ago