Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control

6 March 2024

Papers citing "Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control"

12 / 12 papers shown

Title
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study Dongyun Kang Gijeong Kim JongHun Choe Hajun Kim Hae-Won Park 0 0 0 18 May 2025
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 46 1 0 11 Nov 2024
Robust Agility via Learned Zero Dynamics Policies Noel Csomay-Shanklin William D. Compton I. D. Rodriguez Eric R. Ambrose Yisong Yue Aaron D. Ames 45 1 0 10 Sep 2024
Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning Ilyass Taouil Lorenzo Amatucci Majid Khadiv Angela Dai Victor Barasuol Giulio Turrisi Claudio Semini 39 0 0 14 Aug 2024
Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research Junheng Li Junchao Ma Omar Kolt Manas Shah Quan Nguyen 42 15 0 19 Dec 2023
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories Gijeong Kim Dong-Kyun Kang Joon-ha Kim Seungwoo Hong Hae-Won Park 38 5 0 14 Dec 2023
Efficient Reinforcement Learning for Jumping Monopods Riccardo Bussola Michele Focchi Andrea Del Prete Daniele Fontanelli Luigi Palopoli 42 2 0 13 Sep 2023
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP He Li Tingnan Zhang Wenhao Yu Patrick M. Wensing 42 12 0 28 Sep 2022
Adaptive Complexity Model Predictive Control Joseph Norby Ardalan Tajbakhsh Yanhao Yang Aaron M. Johnson 53 5 0 06 Sep 2022
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot Matthew Chignoli Sangbae Kim 51 26 0 12 Oct 2021
Fast Contact-Implicit Model-Predictive Control Simon Le Cleac'h Taylor A. Howell Shuo Yang Chia-Yen Lee John Z. Zhang Arun L. Bishop Mac Schwager Zachary Manchester 81 79 0 12 Jul 2021
Model Hierarchy Predictive Control of Robotic Systems He Li Robert J. Frei Patrick M. Wensing 42 47 0 17 Oct 2020