GitHub / 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.
JSON API: http://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/LeCAR-Lab%2Fdial-mpc
Stars: 677
Forks: 78
Open issues: 10
License: apache-2.0
Language: Python
Size: 268 MB
Dependencies parsed at: Pending
Created at: 8 months ago
Updated at: 7 days ago
Pushed at: 7 days ago
Last synced at: 7 days ago
Topics: diffusion, humanoid, legged-robots, mpc, online-control, optimal-control, quadruped, sampling-based-control