足式方向论文数据库
用途：paper_enrich.py 输入 → 归一化加权评分 来源：4个学术调研agent，63篇去重后
核心MPC与WBC
| 简称 | 全称 | 录用 | arXiv | GitHub | Star | Star更新日期 | GS引用 | 引用查询 |
|---|---|---|---|---|---|---|---|---|
| ProxDDP | PROXDDP: Proximal Constrained Trajectory Optimization | T-RO 2025 | — | Simple-Robotics/aligator | 299 | 2026-05-24 | 49 | 2026-05-24 |
| Cafe-MPC | Cafe-MPC: A Cascaded-Fidelity MPC Framework with Tuning-Free WBC | T-RO 2024 | 2403.03995 | — | — | — | 55 | 2026-05-24 |
| CollisionFreeMPC | Collision-Free MPC for Legged Robots in Static and Dynamic Scenes | T-RO 2024 | 2103.13987 | — | — | — | 98 | 2026-05-24 |
| WB-MPC-MuJoCo | Whole-Body Model-Predictive Control of Legged Robots with MuJoCo | ICRA 2025 | 2503.04613 | johnzhang3/mujoco_mpc_deploy | 135 | 2026-05-24 | 9 | 2026-05-24 |
| WB-MPPI | Real-Time Whole-Body Control of Legged Robots with MPPI | RA-L 2024 | 2409.10469 | jrapudg/RTWholeBodyMPPI | 171 | 2026-05-24 | 40 | 2026-05-24 |
| Fatrop-WBID | Whole-Body Inverse Dynamics MPC for Legged Loco-Manipulation | RA-L 2025 | 2511.19709 | — | — | — | 2 | 2026-05-24 |
| DIAL-MPC | Full-Order Sampling-Based MPC via Diffusion-Style Annealing | CoRL 2024 | 2409.15610 | LeCAR-Lab/dial-mpc | 973 | 2026-05-24 | 73 | 2026-05-24 |
| RefFreeMPC | Reference-Free Sampling-Based Model Predictive Control | RSS 2025 | 2511.19204 | — | — | — | 1 | 2026-05-24 |
| PD-iLQR-GPU | Primal-Dual iLQR for GPU-Accelerated Learning and Control | RA-L 2025 | 2506.07823 | — | — | — | 10 | 2026-05-24 |
| Hippo | High-Performance Interior-Point and Projection-Based Solver | RA-L 2026 | 2603.00871 | — | — | — | 0 | 2026-05-24 |
| QPSolverReview | Real-Time QP Solvers: A Concise Review for Legged Robots | 2025 | 2510.21773 | — | — | — | 0 | 2026-05-24 |
| WASP | Web of Affine Spaces Derivatives for MuJoCo MPC | 2025 | 2512.21109 | — | — | — | 3 | 2026-05-24 |
| WB-MPC-CENTAURO | Whole-Body MPC for Highly Redundant Legged Manipulators | RA-L 2023 | 2310.02907 | — | — | — | 16 | 2026-05-24 |
| WB-MPC-OptRegion | Perceptive Locomotion through WB-MPC and Optimal Region Selection | RA-L 2024 | 2305.08926 | — | — | — | 24 | 2026-05-24 |
| HierMPC-G1 | Hierarchical Reduced-Order MPC for Humanoid Robots | Humanoids 2025 | 2509.04722 | — | — | — | 4 | 2026-05-24 |
| ChanceConstrMPC | Chance-Constrained Convex MPC for Robust Quadruped Locomotion | ICRA 2025 | 2411.03481 | — | — | — | 5 | 2026-05-24 |
| ADMM-MPC | Accelerating MPC for Legged Robots through Distributed Optimization | IROS 2024 | 2403.11742 | — | — | — | 22 | 2026-05-24 |
| PerceptiveNMPC | Perceptive Locomotion through Nonlinear MPC | T-RO 2023 | 2208.08373 | — | — | — | 396 | 2026-05-24 |
| MARG | MARG: Mastering Risky Gap Terrains with Elevation Mapping | T-RO 2025 | 2509.20036 | — | — | — | 7 | 2026-05-24 |
接触优化与可微分
| 简称 | 全称 | 录用 | arXiv | GitHub | Star | Star更新日期 | GS引用 | 引用查询 |
|---|---|---|---|---|---|---|---|---|
| CI-MPC-KAIST | Contact-Implicit MPC: Controlling Diverse Quadruped Motions | IJRR 2025 | 2312.08961 | — | — | — | — | — |
| IDTO | Inverse Dynamics Trajectory Optimization for Contact-Implicit MPC | IJRR 2026 | 2309.01813 | ToyotaResearchInstitute/idto | 159 | 2026-05-24 | — | — |
| CTR | Dexterous Contact-Rich Manipulation via Contact Trust Region | IJRR 2025 | 2505.02291 | — | — | — | 29 | 2026-05-24 |
| STOCS | Simultaneous Trajectory Optimization and Contact Selection | T-RO 2025 | 2407.16976 | — | — | — | — | — |
| ContactSurvey | Contact Models in Robotics: a Comparative Analysis | T-RO 2024 | 2304.06372 | — | — | — | — | — |
| C3 | Consensus Complementarity Control for Multi-Contact MPC | T-RO 2024 | 2304.11259 | — | — | — | 65 | 2026-05-24 |
| GlobalSmooth | Global Planning via Local Smoothing of Quasi-Dynamic Contact | T-RO 2023 | 2206.10787 | — | — | — | — | — |
| CompFree-Jin | Complementarity-Free Multi-Contact Modeling and Optimization | RSS 2025 | 2408.07855 | — | — | — | — | — |
| ComFreeSim | ComFree-Sim: GPU-Parallelized Analytical Contact Physics Engine | 2026 | 2603.12185 | asu-iris/comfree_warp | 81 | 2026-05-24 | 0 | 2026-05-24 |
| DiffMJX | Hard Contacts with Soft Gradients | 2025 | 2506.14186 | — | — | — | 2 | 2026-05-24 |
| ci-SCvx | GPU-Accelerated Contact-Implicit Successive Convexification | 2026 | 2604.09993 | — | — | — | — | — |
| HierContactTO | Hierarchical Contact-Rich TO for Multi-Modal Manipulation | ICRA 2025 | 2503.07963 | — | — | — | — | — |
| DiffSim2Real | Deploying Quadrupedal Locomotion Purely Trained in DiffSim | CoRL 2024 | 2411.02189 | — | — | — | 3 | 2026-05-24 |
| DeployDiffSim | Learning Deployable Locomotion via Differentiable Simulation | CoRL 2025 | 2404.02887 | — | — | — | — | — |
| GlobalCI-MPC | Approximating Global CI-MPC via Sampling and Local Complementarity | RA-L 2025 | 2505.13350 | — | — | — | — | — |
| FastCI-MPC | Fast Contact-Implicit Model Predictive Control | T-RO 2024 | 2107.05616 | — | — | — | 138 | 2026-05-24 |
| RobustDiffCol | Robust Differentiable Collision Detection for General Objects | ICRA 2026 | 2511.06267 | — | — | — | — | — |
混合+安全+自适应
| 简称 | 全称 | 录用 | arXiv | GitHub | Star | Star更新日期 | GS引用 | 引用查询 |
|---|---|---|---|---|---|---|---|---|
| DTC | DTC: Deep Tracking Control | Science Robotics 2024 | 2309.15462 | — | — | — | — | — |
| ContinualKoopman | Continual Learning and Lifting of Koopman Dynamics | CoRL 2025 | 2411.14321 | — | — | — | 10 | 2026-05-24 |
| ABS | Agile But Safe: Learning Collision-Free High-Speed Locomotion | RSS 2024 | 2401.17583 | — | — | — | — | — |
| RAMBO | RL-Augmented Model-Based Optimal Control for WB Loco-Manipulation | 2025 | 2504.06662 | — | — | — | — | — |
| ResidualMPC | Residual MPC: Blending RL with GPU-Parallelized MPC | 2025 | 2510.12717 | — | — | — | — | — |
| RL-AdaptMPC | RL-augmented Adaptive MPC for Bipedal Locomotion | 2025 | 2509.18466 | — | — | — | 3 | 2026-05-24 |
| ADMM-CBF | ADMM-Based Distributed MPC with CBF for Safe Multi-Robot | 2026 | 2603.19170 | — | — | — | — | — |
| AdaptMPC-KF | Adaptive Model-Based Control via Online System Identification | IEEE 2025 | 2506.13432 | — | — | — | — | — |
| RK-MPC | RK-MPC: Residual Koopman MPC for Quadruped Offroad | 2026 | 2604.04221 | — | — | — | — | — |
| E2E-NMPC | End-to-End Multi-Task Policy Learning from NMPC | ICRA 2025 | 2505.08574 | — | — | — | — | — |
| BenchMPCRL | Benchmarking MPC and RL for Legged Robot Locomotion | IEEE Access 2025 | 2501.16590 | — | — | — | 10 | 2026-05-24 |
状态估计
| 简称 | 全称 | 录用 | arXiv | GitHub | Star | Star更新日期 | GS引用 | 引用查询 |
|---|---|---|---|---|---|---|---|---|
| InNKF | Legged Robot State Estimation Using InEKF with Neural Compensator | ICRA 2025 | 2503.00344 | — | — | — | — | — |
| AttenNKF | Attention-Based Neural-Augmented Kalman Filter | RA-L 2026 | 2601.18569 | — | — | — | 1 | 2026-05-24 |
| DualBetaKF | Robust State Estimation with Dual Beta Kalman Filter | RA-L 2025 | 2411.11483 | — | — | — | 7 | 2026-05-24 |
| OptiState | OptiState: State Estimation using Gated Networks with Transformer | ICRA 2024 | 2401.16719 | — | — | — | — | — |
| OCELOT | OCELOT: Odometry and Contact Estimation for Legged Robots | 2026 | 2605.21863 | — | — | — | — | — |
落脚规划
| 简称 | 全称 | 录用 | arXiv | GitHub | Star | Star更新日期 | GS引用 | 引用查询 |
|---|---|---|---|---|---|---|---|---|
| VarInertiaMPC | Variable Inertia MPC for Fast Bipedal Maneuvers | IROS 2024 | 2407.16811 | — | — | — | — | — |
| LoadBearing | Load-bearing Assessment for Safe Locomotion on Collapsing Terrain | RA-L 2025 | 2510.21369 | — | — | — | — | — |