This repository contains the code (simulation and real-world experiments with minimum setup) for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style ...

Abstract: Tree-based Genetic Programming (TGP) is a widely used evolutionary algorithm for tasks such as symbolic regression, classification, and robotic control. Due to the intensive computational ...

We implement DiffMimic with Brax: Brax is a fast and fully differentiable physics engine used for research and development of robotics, human perception, materials science, reinforcement learning, and ...