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 (5 months ago)
Commits 66 (last one 6 days ago)
Stargazers 514 (13 this week)
Watchers 13 (0 this week)
Forks 56
License apache-2.0
Ranking

RepositoryStats indexes 616,861 repositories, of these LeCAR-Lab/dial-mpc is ranked #91,589 (85th percentile) for total stargazers, and #168,121 for total watchers. Github reports the primary language for this repository as Python, for repositories using this language it is ranked #15,249/124,816.

Other Information

LeCAR-Lab/dial-mpc has 2 open pull requests on Github, 4 pull requests have been merged over the lifetime of the repository.

Github issues are enabled, there are 4 open issues and 7 closed issues.

There have been 1 release, the latest one was published on 2024-11-06 (3 months ago) with the name DIAL-MPC 0.0.2: Sim2Real on Go2; Sim2Sim on H1.

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

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Recent Commit History

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

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Issue History

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Languages

The only known language in this repository is Python

PythonPython

updated: 2025-02-19 @ 03:45pm, id: 857882804 / R_kgDOMyJAtA