Carnegie Mellon University
Aspect | DIAL-MPC | Sampling-based MPC Baselines | Nonlinear MPC | Model-Free RL |
Agile Motion | Yes | No | Need careful system identification and solver design | Yes |
High-precision Control | Yes | No | Yes | Need careful reward engineering and training design |
Full-Order Dynamics | Yes | Yes | No, especially with contact | Yes |
Aribitrary Cost | Yes | Yes | No | Yes |
Training-Free | Yes | Yes | Yes | No |
Test-time generalization | Yes | Yes | Yes | Need extra components in training stage |
@misc{xue2024fullordersamplingbasedmpctorquelevel, title={Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing}, author={Haoru Xue and Chaoyi Pan and Zeji Yi and Guannan Qu and Guanya Shi}, year={2024}, eprint={2409.15610}, archivePrefix={arXiv}, primaryClass={cs.RO}, url={https://arxiv.org/abs/2409.15610}, }