2025
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
ICRA 2025
A core strength of Model Predictive Control (MPC) for quadrupedal locomotion has been its ability to enforce constraints and provide interpretability of the sequence of commands over the horizon. However, despite being able to plan, MPC struggles to scale with task complexity, often failing to achie