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cs.RO2025
Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
John Z. Zhang, Taylor A. Howell, Zeji Yi +6
We demonstrate the surprising real-world effectiveness of a very simple approach to whole-body model-predictive control (MPC) of quadruped and humanoid robots: the iterative LQR (i…
cs.RO2025★ 2 cited
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
Tairan He, Jiawei Gao, Wenli Xiao +15
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a s…