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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.

diffusionhumanoidlegged-robotsmpconline-controloptimal-controlquadrupedsampling-based-control
GitHub ↗Website ↗

License & maintenance

Apache-2.0 is a permissive license: free to use commercially with attribution.

Last code push 16 months ago.

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