An Efficient and Versatile Framework for Multi-Contact Optimal Control
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ICRA 24 Convergent iLQR for Safe Trajectory Planning and Control of Legged Robot
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Conflict-based Model Predictive Control for Scalable Multi-Robot Motion Planning
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Deep Compliant Control for Legged Robots
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IROS 2020 Teaser · Dynamic Trajectories Robust to Disturbances
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Impact-Aware Bimanual Catching of Large-Momentum Objects
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The MIT Humanoid Robot Design Motion Planning and Control ForAcrobatic Behaviors
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Centroidal Preview Control for Humanoid Multi-Contact Motion RA-L IROS 2022
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EAGLE: The First Event Camera Dataset Gathered by an Agile Quadruped Robot
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Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement
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Bipedal Safe Navigation over Uncertain Rough Terrain
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(ICRA 2024) Actor-Critic Model Predictive Control
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双足机器人步态生成 MATLAB and Simulink
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Versatile Skill Control via Self-supervised Adversarial Imitation
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Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model
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qpSWIFT : A Real-time Sparse Quadratic Program Solver for Robotic Applications
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Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned
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UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric WBC
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DTC: Deep Tracking Control 1
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Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selectio
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Optimization-Based Reference Generator for Nonlinear Model Predictive Control
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