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1. LeCAR-Lab/dial-mpc LeCAR-Lab/dial-mpc Public

   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 …

   Python 448 47

2. LeCAR-Lab/model-based-diffusion LeCAR-Lab/model-based-diffusion Public

   Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dy…

   Jupyter Notebook 191 10

3. LeCAR-Lab/CoVO-MPC LeCAR-Lab/CoVO-MPC Public

   Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4DC 2024. CoVO-MPC is an optimal sampling-based MPC algorithm.

   Python 115 7

4. diffuser-control-tutorial diffuser-control-tutorial Public

   A tutorial about diffusion model application in planning and control.

   71 1

5. gym-xarm gym-xarm Public

   OpenAI Gym Xarm7 robot environment implemented with PyBullet.

   Python 10 5

6. optimal-control-lecture-notes optimal-control-lecture-notes Public

   Lecture notes for CMU RI course 16-745 Optimal Control 2023. The lecture notes provided here have been organized to ensure a structured and comprehensive understanding.

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