To the author's best knowledge, this framework is probably the best-performing open-source legged robot MPC control framework; You can deploy this framework in your A1 robot within a few hours; Thanks ...

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Will Kenton is an expert on the economy and investing laws and regulations. He previously held senior editorial roles at Investopedia and Kapitall Wire and holds a MA in Economics from The New School ...

Abstract: This paper proposes a novel self-collision avoidance (SCA) scheme for whole-body model predictive control (WB-MPC). Since WB-MPC deals with a large-scale optimization problem, which becomes ...

Abstract: The mobile manipulator combines the high precision of the manipulator with the mobility of the mobile base, finding widespread applications in intelligent logistics, manufacturing, and home ...

This repo covers the motion tracking training in BeyondMimic. You should be able to train any sim-to-real-ready motion in the LAFAN1 dataset, without tuning any parameters. For sim-to-sim and ...