lunarlab-gatech / Morphology-Informed-HGNNLinks
[ICRA 2025] We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The architecture and connectivity of the MI-HGNN are constructed from the robot morphology.
☆26Updated 3 months ago
Alternatives and similar repositories for Morphology-Informed-HGNN
Users that are interested in Morphology-Informed-HGNN are comparing it to the libraries listed below
Sorting:
- Tools for exploiting Morphological Symmetries in robotics☆87Updated 4 months ago
- ☆34Updated last year
- Model Predictive Control in JAX☆100Updated last week
- Learn how to design a footstep planner for humanoid robots, breaking down the entire process step by step: 2D footsteps planning, 3D feet…☆21Updated 7 months ago
- A distributed whole-body model predictive control for quadruped robots☆57Updated 4 months ago
- Judo: a hackable sampling-based MPC toolbox☆153Updated 2 weeks ago
- ☆45Updated 9 months ago
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆80Updated 2 months ago
- Towards better athletic intelligence☆26Updated 2 months ago
- Torobo models and example scripts in MuJoCo☆68Updated 2 months ago
- Mujoco Gym environment for the control of quadruped robots☆47Updated last week
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆103Updated 3 months ago
- phase-based Observations, Rewards, Coupling Ablation☆44Updated last year
- ☆42Updated 10 months ago
- Quaternion Model Predictive Control for Legged Robots☆61Updated 10 months ago
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 9 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆162Updated 3 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆50Updated 2 years ago
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation☆60Updated last month
- Safe, high-performance, and task-consistent manipulator control☆102Updated 2 weeks ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆76Updated 4 months ago
- State-of-the-art method for model-based dexterous manipulation☆117Updated last year
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆148Updated 2 weeks ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆47Updated 2 years ago
- ☆60Updated last week
- mujoco_ros2_control_examples☆24Updated 6 months ago
- A high-fidelity MuJoCo model of the Solo-12 quadruped☆33Updated last year
- Differential Dynamic Programming and Iterative LQR in Drake☆70Updated last year
- ☆28Updated 7 months ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆96Updated 3 months ago