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.
☆31Updated 5 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☆91Updated 2 months ago
- Generative Predictive Control☆51Updated 3 weeks ago
- Globally Safe Model-free Exploration of Dynamical Systems☆30Updated 11 months ago
- Learn how to design a footstep planner for humanoid robots, breaking down the entire process step by step: 2D footsteps planning, 3D feet…☆27Updated 9 months ago
- Model Predictive Control in JAX☆110Updated last month
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆23Updated 5 months ago
- ☆54Updated 3 months ago
- Quaternion Model Predictive Control for Legged Robots☆64Updated last month
- An implementation of the paper "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control" into Quad-SDK☆17Updated last year
- A distributed whole-body model predictive control for quadruped robots☆67Updated 6 months ago
- RAMBO: RL-augmented Model-based Whole-body Control for Loco-manipulation☆85Updated 3 months ago
- Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing☆50Updated 3 weeks ago
- phase-based Observations, Rewards, Coupling Ablation☆45Updated last year
- A collection of awesome projects using MuJoCo.☆14Updated 4 months ago
- Towards better athletic intelligence☆27Updated last month
- Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding☆24Updated 5 months ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆19Updated 3 years ago
- terrain-robustness benchmark for legged locomotion☆65Updated 2 years ago
- SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning☆32Updated 5 months ago
- ☆38Updated last year
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆21Updated last month
- (RSS 2025) Flow Matching Ergodic Coverage☆44Updated 3 months ago
- ☆17Updated 7 months ago
- ☆50Updated last year
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆83Updated 4 months ago
- CSDecomp implements GPU-accelerated collision checking for generating approximate convex decompositions of robot configuration space.☆46Updated last month
- mujoco_ros2_control_examples☆28Updated last month
- Mujoco Gym environment for the control of quadruped robots☆51Updated this week
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆164Updated 5 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Updated 6 months ago