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    13 repositories

    • dial-mpc

      Public
      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.
      mpcoptimal-controldiffusionhumanoidlegged-robotsquadrupedonline-controlsampling-based-control
      Python
      •
      Apache License 2.0
      •42•415•1•1•Updated Nov 20, 2024Nov 20, 2024

    • 16831-F24-HW

      Public
      Python
      •14•9•0•0•Updated Nov 18, 2024Nov 18, 2024

    • wococo

      Public
      Python
      •
      Other
      •1•41•1•0•Updated Nov 7, 2024Nov 7, 2024

    • LeCAR-Lab.github.io

      Public
      HTML
      •0•5•0•0•Updated Nov 4, 2024Nov 4, 2024

    • anycar

      Public
      Jupyter Notebook
      •15•89•4•0•Updated Oct 28, 2024Oct 28, 2024

    • mbd

      Public
      HTML
      •
      Apache License 2.0
      •0•1•0•0•Updated Oct 19, 2024Oct 19, 2024

    • model-based-diffusion

      Public
      Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dynamics model to run the reverse denoising process to generate high-quality trajectories.
      controloptimizationplanningrltrajectory-optimizationdiffusiontrajectorysampling-methodsdiffusion-modelszeroth-order-optimization
      Jupyter Notebook
      •
      Apache License 2.0
      •9•179•0•0•Updated Oct 19, 2024Oct 19, 2024

    • vicon_interface

      Public
      Vicon ROS2 Python Driver
      Python
      •
      GNU Lesser General Public License v3.0
      •0•2•0•0•Updated Oct 12, 2024Oct 12, 2024

    • SSML-AC

      Public
      MIT License
      •0•0•0•0•Updated Oct 7, 2024Oct 7, 2024

    • human2humanoid

      Public
      [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
      Python
      •15•283•5•1•Updated Oct 2, 2024Oct 2, 2024

    • ABS

      Public
      [RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
      Python
      •23•254•1•0•Updated Jul 11, 2024Jul 11, 2024

    • SafeDPA

      Public
      Python
      •
      MIT License
      •0•6•0•0•Updated May 24, 2024May 24, 2024

    • CoVO-MPC

      Public
      Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4DC 2024. CoVO-MPC is an optimal sampling-based MPC algorithm.
      controldronempcquadrotorsampling-methodszeroth-order-optimization
      Python
      •
      Apache License 2.0
      •7•115•0•0•Updated May 22, 2024May 22, 2024