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Found 3 papers, 1 papers with code
Imitation Learning from MPC for Quadrupedal Multi-Gait Control
We present a learning algorithm for training a single policy that imitates multiple gaits of a walking robot.
MPC-Net: A First Principles Guided Policy Search
Our loss function, however, corresponds to the minimization of the control Hamiltonian, which derives from the principle of optimality.
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts.
Robotics
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