LeCAR-Lab / dial-mpc

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

Date Created 2024-09-15 (26 days ago)

Commits 43 (last one 13 days ago)

Stargazers 346 (23 this week)

Watchers 6 (0 this week)

Forks 26

License apache-2.0

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RepositoryStats indexes 569,482 repositories, of these LeCAR-Lab/dial-mpc is ranked #118,883 (79th percentile) for total stargazers, and #294,214 for total watchers. Github reports the primary language for this repository as Python, for repositories using this language it is ranked #20,038/112,364.

Other Information

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Homepage URL: https://lecar-lab.github.io/dial-mpc/

All Topics

mpc humanoid diffusion quadruped legged-robots online-control optimal-control sampling-based-control

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43 commits on the default branch (main) since jan '22

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The only known language in this repository is Python

updated: 2024-10-12 @ 05:52pm, id: 857882804 / R_kgDOMyJAtA