Whole-body Control of Legged Robots with MPPI
Our approach enables real-time, contact-rich locomotion and manipulation using a single control policy derived from Model-Predictive Path Integral (MPPI) control. Demonstrations include box pushing, box climbing, and robust walking over rough terrain.
Check out our website.
Related Papers
|
2025 May |
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control
IEEE International Conference on Robotics and Automation (ICRA). Atlanta, GA. |
People
Juan Alvarez Padilla
Learning and Optimization Based Controls
John Zhang
GPU Accelerated Optmization and Control through Contact
Sofia Kwok
Starfish Space
Zac Manchester
Associate Professor