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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.

diffusion humanoid legged-robots mpc online-control optimal-control quadruped sampling-based-control

Creat：2024-09-16T05:07:20

Update：2025-03-26T23:40:52

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

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