Trajectory Optimization for Challenging Maneuvers on Humanoid Robots
☆86Jun 17, 2025Updated 8 months ago
Alternatives and similar repositories for humanoid-trajopt-playground
Users that are interested in humanoid-trajopt-playground are comparing it to the libraries listed below
Sorting:
- An all-in-one project for humanoid robots from locomotion to motion tracking.☆49Sep 10, 2025Updated 6 months ago
- Official implementation of HEAD CoRL 2025☆24Aug 22, 2025Updated 6 months ago
- ☆55Oct 26, 2024Updated last year
- A collection of awesome projects using MuJoCo.☆16May 27, 2025Updated 9 months ago
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆26Updated this week
- Learning Model for Aggressive Jumping Maneuvers☆28Mar 5, 2025Updated last year
- Official Github repository for "CHILD: a Whole-Body Humanoid Teleoperation System". (Humanoids 2025)☆41Jan 30, 2026Updated last month
- ☆25May 30, 2025Updated 9 months ago
- Sampling-based model predictive control on GPU with JAX/MJX☆255Updated this week
- A simple JAX-based implementation of random search for locomotion tasks using MuJoCo XLA (MJX).☆13Jul 18, 2024Updated last year
- Open Source Code for RA-L 2025 Paper☆63Oct 1, 2025Updated 5 months ago
- Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets☆179Apr 14, 2025Updated 10 months ago
- Bipedal robot control using ocs2☆116Jul 1, 2025Updated 8 months ago
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆83Nov 25, 2024Updated last year
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆78Sep 10, 2024Updated last year
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆167May 17, 2025Updated 9 months ago
- [Humanoids 2024 award finalist] Online DNN-Driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment☆20Feb 5, 2025Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Apr 7, 2025Updated 11 months ago
- A distributed whole-body model predictive control for quadruped robots☆79Apr 22, 2025Updated 10 months ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆253Dec 27, 2025Updated 2 months ago
- MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation☆80Updated this week
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆72Dec 12, 2024Updated last year
- ☆120Sep 19, 2024Updated last year
- Open Source Code for the IROS 2024 Paper☆214Sep 12, 2025Updated 5 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- ☆52Mar 26, 2019Updated 6 years ago
- Quaternion Model Predictive Control for Legged Robots☆75Sep 11, 2025Updated 5 months ago
- ☆18Mar 2, 2025Updated last year
- Quadruped handstand using Legged Gym and reinforcement learning in Isaac Gym.☆31Mar 28, 2025Updated 11 months ago
- A trajectory optimizer that can make quadrupeds backflip.☆47Jun 30, 2025Updated 8 months ago
- ☆144Aug 15, 2025Updated 6 months ago
- Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.☆23Apr 13, 2024Updated last year
- Towards better athletic intelligence☆181Jan 31, 2026Updated last month
- 🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)☆280Updated this week
- ☆359Jul 10, 2025Updated 8 months ago
- LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators (IROS'24)☆89Feb 6, 2025Updated last year
- ☆26Jul 14, 2025Updated 7 months ago
- Open-source code for Neural Internal Model Control (Neural-IMC)☆40Jun 2, 2025Updated 9 months ago
- Adversarial Motion Priror(AMP) for Isaaclab manager based env☆56Oct 16, 2025Updated 4 months ago