Repository: LeCAR-Lab/dial-mpc
Description: 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.
Languages: Python
Stars: 519
License: Apache License 2.0