most citedFull-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing

1 citations · 1 across the 1 of their papers we have counts for

collaborators

1 paper

cs.RO2024★ 1 cited

Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing

Haoru Xue, Chaoyi Pan, Zeji Yi +2

Due to high dimensionality and non-convexity, real-time optimal control using full-order dynamics models for legged robots is challenging. Therefore, Nonlinear Model Predictive Con…