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 (2 months ago)

Commits 63 (last one 27 days ago)

Stargazers 426 (10 this week)

Watchers 11 (0 this week)

Forks 42

License apache-2.0

Ranking

RepositoryStats indexes 589,134 repositories, of these LeCAR-Lab/dial-mpc is ranked #102,488 (83rd percentile) for total stargazers, and #191,662 for total watchers. Github reports the primary language for this repository as Python, for repositories using this language it is ranked #17,148/117,584.

Other Information

LeCAR-Lab/dial-mpc has 1 open pull request on Github, 2 pull requests have been merged over the lifetime of the repository.

Github issues are enabled, there is 1 open issue and 6 closed issues.

There have been 1 release, the latest one was published on 2024-11-06 (27 days ago) with the name DIAL-MPC 0.0.2: Sim2Real on Go2; Sim2Sim on H1.

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

All Topics

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

Star History

Github stargazers over time

Watcher History

Github watchers over time, collection started in '23

Recent Commit History

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

Yearly Commits

Commits to the default branch (main) per year

Issue History

Languages

The only known language in this repository is Python

updated: 2024-12-03 @ 01:13pm, id: 857882804 / R_kgDOMyJAtA