BetaRare
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.
- Owner
- LeCAR-Lab (organization)
- Stars
- Stars: 1,012
- Forks
- Forks: 104
- Language
- Python
- License
- Apache-2.0
- Created
- 2024
- Topics
- diffusionhumanoidlegged-robotsmpconline-controloptimal-controlquadrupedsampling-based-control
- Tier
- Beta (700 to 1,999 ★) What this tier means
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