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Abstract: Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex costs.

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 ...

HVAC ductwork close-up illustrating building system integration. Source: Sigmund/Unsplash Model predictive control (MPC) uses a model of a system to forecast its behavior, solve an optimization ...

Abstract: The dynamic and unknown human behaviors in human–robot interaction make it challenging for collision-free robot manipulation. Although sampling-based model predictive control (MPC) has ...

Hydrax implements various sampling-based MPC algorithms on GPU. It is heavily inspired by MJPC, but focuses exclusively on sampling-based algorithms, runs on hardware accelerators via JAX and MJX, and ...