sampling-based-control

Here are 3 public repositories matching this topic...

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.

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

Updated May 28, 2025
Python

sisl / MPOPIS

Star

Adaptive importance sampling modification to MPPI

mpc optimal-control model-predictive-control nonlinear-control mppi sampling-based-planning sampling-based-control

Updated Apr 1, 2024
Julia

nvidhu-dev / mppi-locomotion

Star

Sampling-based MPC (MPPI / Predictive Sampling) on the true MuJoCo simulator — DM-Control walker and Unitree Go2.

robotics quadruped model-predictive-control mujoco dm-control mppi sampling-based-control legged-locomotion

Updated Jun 14, 2026
Python

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