Cover Image

Robust and Efficient MuJoCo-based Model Predictive Control via Web of Affine Spaces Derivatives

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Liang, Chen, Rakita, Daniel
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

MuJoCo Playground
by: Zakka, Kevin, et al.
Published: (2025)

Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization
by: Rakita, Daniel, et al.
Published: (2025)

Whole-Body Model-Predictive Control of Legged Robots with MuJoCo
by: Zhang, John Z., et al.
Published: (2025)

MuJoCoUni:Persistent Batched Runtime Primitives for MuJoCo
by: Jia, Yufei, et al.
Published: (2026)

Onboard MuJoCo-based Model Predictive Control for Shipboard Crane with Double-Pendulum Sway Suppression
by: Pang, Oscar, et al.
Published: (2026)

MuJoCo MPC for Humanoid Control: Evaluation on HumanoidBench
by: Meser, Moritz, et al.
Published: (2024)

DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo
by: Wang, Hanwen, et al.
Published: (2026)

Benchmarking Model Predictive Control and Reinforcement Learning Based Control for Legged Robot Locomotion in MuJoCo Simulation
by: Akki, Shivayogi, et al.
Published: (2025)

Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator
by: Xu, Zichun, et al.
Published: (2023)

MuBlE: MuJoCo and Blender simulation Environment and Benchmark for Task Planning in Robot Manipulation
by: Nazarczuk, Michal, et al.
Published: (2025)

PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking
by: Sun, Xiatao, et al.
Published: (2025)

SAFIRL: Shielded RL with CBF/MPC on Franka-MuJoCo (v0.1.1)
by: Ozoglu, Nihan
Published: (2025)

Towards Zero-Knowledge Task Planning via a Language-based Approach
by: Hoffmeister, Liam Merz, et al.
Published: (2026)

Beyond URDF: The Universal Robot Description Directory for Shared, Extensible, and Standardized Robot Models
by: Klein-Seetharaman, Roshan, et al.
Published: (2025)

APOLLO Blender: A Robotics Library for Visualization and Animation in Blender
by: Messina, Peter, et al.
Published: (2025)

ad-trait: A Fast and Flexible Automatic Differentiation Library in Rust
by: Liang, Chen, et al.
Published: (2025)

Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training
by: Sun, Xiatao, et al.
Published: (2025)

Sequential Discrete Action Selection via Blocking Conditions and Resolutions
by: Hoffmeister, Liam Merz, et al.
Published: (2024)

A New Software Tool for Generating and Visualizing Robot Self-Collision Matrices
by: Klein-Seetharama, Roshan, et al.
Published: (2025)

Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learning
by: Sun, Xiatao, et al.
Published: (2025)

Optimizing Active Perception for Learning Simultaneous Viewpoint Selection and Manipulation with Diffusion Policy
by: Sun, Xiatao, et al.
Published: (2024)

Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions
by: Forghani, Kimia, et al.
Published: (2026)

Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies
by: Shaham, Michael H., et al.
Published: (2024)

Subsecond 3D Mesh Generation for Robot Manipulation
by: Wang, Qian, et al.
Published: (2025)

MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots
by: Feng, Yusen, et al.
Published: (2026)

Nonlinear Model Predictive Control for Robust Bipedal Locomotion: Exploring Angular Momentum and CoM Height Changes
by: Ding, Jiatao, et al.
Published: (2019)

Exploiting Differential Flatness for Efficient Learning-based Model Predictive Control of Constrained Multi-Input Control Affine Systems
by: Farger, Tobias A., et al.
Published: (2026)

GeMuCo: Generalized Multisensory Correlational Model for Body Schema Learning
by: Kawaharazuka, Kento, et al.
Published: (2024)

Encirclement Guaranteed Cooperative Pursuit with Robust Model Predictive Control
by: Wang, Chen, et al.
Published: (2021)

Predictability Awareness for Efficient and Robust Multi-Agent Coordination
by: Gil, Roman Chiva, et al.
Published: (2024)

Differentiable Robust Model Predictive Control
by: Oshin, Alex, et al.
Published: (2023)

Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
by: Gu, Zhaoyuan, et al.
Published: (2024)

Neural Internal Model Control: Learning a Robust Control Policy via Predictive Error Feedback
by: Gao, Feng, et al.
Published: (2024)

Imitating and Finetuning Model Predictive Control for Robust and Symmetric Quadrupedal Locomotion
by: Youm, Donghoon, et al.
Published: (2023)

Efficient On-policy Visual-RL via Stochastic Decoupled Policy Gradient
by: You, Haoxiang, et al.
Published: (2026)

Faster Model Predictive Control via Self-Supervised Initialization Learning
by: Li, Zhaoxin, et al.
Published: (2024)

A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies
by: Kim, Myeong-Ju, et al.
Published: (2023)

Robust Convex Model Predictive Control with collision avoidance guarantees for robot manipulators
by: Wullt, Bernhard, et al.
Published: (2025)

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
by: Ghansah, Adrian B., et al.
Published: (2025)

Safety-Aware Robust Model Predictive Control for Robotic Arms in Dynamic Environments
by: Nam, Sanghyeon, et al.
Published: (2025)