A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulations and solver backends.
☆269Dec 28, 2025Updated 10 months ago
Alternatives and similar repositories for wb-mpc-locoman
Users that are interested in wb-mpc-locoman are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆96Sep 10, 2024Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆173Sep 9, 2025Updated last year
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation☆123Jul 23, 2025Updated last year
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆387Oct 18, 2026Updated 2 weeks ago
- AHMP: Agile Humanoid Motion Planning with Contact Sequence Discovery☆43Feb 21, 2026Updated 8 months ago
- Managed Kubernetes at scale on DigitalOcean • AdDigitalOcean Kubernetes includes the control plane, bandwidth allowance, container registry, automatic updates, and more for free.
- Model Predictive Control in JAX☆282Sep 2, 2026Updated 2 months ago
- Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation☆145May 7, 2026Updated 5 months ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆157Apr 22, 2026Updated 6 months ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆537Updated this week
- A ROS 2 framework for humanoid robot simulation and control, developed by the Computational Robotics Lab (CRL) at ETH Zurich.☆47Feb 10, 2026Updated 8 months ago
- PACE: A systematic approach for sim-to-real transfer of legged robots, identifying actuator and joint dynamics with standard joint encode…☆866Updated this week
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆90Jun 17, 2025Updated last year
- Train a loco-manipulation dog with RL☆458Aug 15, 2024Updated 2 years ago
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- [CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion☆411Jan 17, 2024Updated 2 years ago
- MPC-guided RL for Humanoid Locomotion and Manipulation☆115Jun 10, 2026Updated 4 months ago
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,845Feb 13, 2025Updated last year
- CoRL2025 UniFP: Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation☆326Oct 26, 2025Updated last year
- MultiModalWBC is a fully open-source, IsaacLab-based framework for multi-modal whole-body control, designed for motion imitation, motion …☆192Jun 16, 2026Updated 4 months ago
- A distributed whole-body model predictive control for quadruped robots☆91Apr 22, 2025Updated last year
- A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn☆422Jan 5, 2025Updated last year
- One policy. Any motion. Train universal whole-body tracking in mjlab—swap clips, not checkpoints.☆181Oct 29, 2026Updated last week
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆354Mar 28, 2025Updated last year
- 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.
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆72Jul 5, 2024Updated 2 years ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆181May 17, 2025Updated last year
- Optimal Control for Switched Systems☆1,537Sep 29, 2026Updated last month
- SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning☆52May 19, 2025Updated last year
- ☆67Oct 26, 2024Updated 2 years ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆232Nov 26, 2025Updated 11 months ago
- ☆34May 30, 2025Updated last year
- ☆364Apr 1, 2026Updated 7 months ago
- Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control☆988May 14, 2024Updated 2 years ago
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- Quaternion Model Predictive Control for Legged Robots☆79Sep 11, 2025Updated last year
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,326Updated this week
- ☆423Jul 10, 2025Updated last year
- ☆175Nov 27, 2024Updated last year
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆343Updated this week
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆1,013May 28, 2025Updated last year
- [L4DC 2026 (Oral)] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"☆445Apr 9, 2026Updated 6 months ago