Post-training humanoid whole-body trackers for perceptive control tasks
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Updated
Sep 26, 2026 - Python
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perceptive-locomotion
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Collaborative Legged Loco-Manipulation over Discrete Terrain based on Model Predictive Control (MPC)
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Dec 10, 2024 - C++
Bring-up patches + ROS 2 tooling for OCS2 perceptive nonlinear-MPC on the Unitree Go2 (unitree_mujoco, ROS 2 Jazzy). Implements Grandia et al., IEEE T-RO 2023. Full attribution included.
legged-robots ros2 quadruped model-predictive-control mujoco nonlinear-mpc unitree-go2 ocs2 perceptive-locomotion
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Jul 22, 2026 - Python
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