rl-mpc-locomotion

MIT Cheetah I Implementation

Privacy-Preserving Computing Platform 由密码学专家团队打造的开源隐私计算平台，支持多方安全计算、联邦学习、隐私求交、匿踪查询等。

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

A curated list of awesome NVIDIA Issac Gym frameworks, papers, software, and resources

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

A curated list of awesome robot descriptions (URDF, MJCF)

Awesome Quadrupedal Robots

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.

The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.