DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion

arXiv:2609.20035 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-17

Updated: 2026-09-17

Comments: 8 pages, 5 figures, submitted to RA-L

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Regularization — 4× in this paper · explained in 3 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Sparsity — 2× in this paper · explained in 4 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Robustness — 1× in this paper · explained in 5 episodes

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