Legged Robot Control F25

Nonlinear MPC for a Planar Biped using Contact-Constrained Trajectory Optimization

Vansh Thakur, Guangxuan Xu, Yutong Zhou

Phase-Based Gait and Trajectory Optimization in MuJoCo for Dynamic Legged Locomotion

Jiamu Liu, Olivia Ma, Anran Li

Residual Model Predictive Control for Robust Locomotion under Varying Friction

Zijie Chen , Jyotishka Dutta Gupta, Rui Zhang

Control Quadrupedal Robots based on Reinforcement Learning

Yuqiao Luo, Longzhen Yuan, 

Yang Lyu

Centroidal MPC for Inertial Reorientation Using Bio-inspired Tailed Robot

Yichen Wang, Yue Qin, Justin Boverhof

Humanoid robot performing an acrobatic maneuver

Harsh Pandit, Adrian Kai Helmerci, Manveer Singh

Motion Retargeting and Reinforcement Learning for Xuanwu-V2 Bipedal Robot

Yuxi Liu, Meiyi Yang, Zim Gong

Humanoid Off-Policy Prior-data for Efficient Reinforcement Learning

Sheltraw Cody, Yeheng Zong,  Shaoze Yang

SLIP modeled BDX Droid Performing Long Jump

Dan Altman, Tsai-Hsu Wu, 

Felicia Sang

Concurrent LocoManipulation

Luna Wu, Hao Chen, Jichao Zhang

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Hybrid Control for Quadruped Locomotion and Backflips

David Ho, Ruben Fonseca Castro, Pranav Vaya