MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins
cs.RO
Submitted: 2026-06-24
Updated: 2026-09-24
Code: https://github.com/unitreerobotics/unitree_
Terminology
Sources
- Olaf: Bringing an Animated Character to Life in the Physical World
- Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer
- AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control
- Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
- ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
- TWIST: Teleoperated Whole-Body Imitation System
- Infusing model predictive control into meta-reinforcement learning for mobile robots in dynamic environments
- Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
- Benchmarking Potential Based Rewards for Learning Humanoid Locomotion
- Learning to Run with Potential-Based Reward Shaping and Demonstrations from Video Data
- Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning
- CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions
- Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion
- Learning Quadrupedal Locomotion over Challenging Terrain
- Generative Predictive Control: Flow Matching Policies for Dynamic and Difficult-to-Demonstrate Tasks
- GMT: General Motion Tracking for Humanoid Whole-Body Control
- Leveraging Demonstrations for Deep Reinforcement Learning on Robotics Problems with Sparse Rewards
- Residual MPC: Blending Reinforcement Learning with GPU-Parallelized Model Predictive Control
- MPC-Net: A First Principles Guided Policy Search
- Differentiable MPC for End-to-end Planning and Control
Related papers
- FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
- MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
- RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
- HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
- APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
- Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving