Lecture 20 for Optimal Control and Reinforcement Learning 2025. Guest lecture by John Zhang (https://johnzhang3.github.io/)
Topics:
- History of legged robots
- Convex MPC (the Cheetah controller)
- Whole-body nonlinear MPC
- Reinforcement learning for legged robots
- Model-predictive path-integral control for loco-manipulation
Lecture Notes:
https://github.com/Optimal-Control-16-745/lecture-notebooks/tree/main/Lecture%2020