A lightweight GUI for testing and debugging VCM firmware and its communication protocol.
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Updated
Oct 4, 2026 - Python
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vcm
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Hierarchical control for a 16-DoF wheel-legged robot: VMC base + LQR / constrained MPC / bounded residual PPO at 100 Hz decision and 500 Hz physics. 20 paired seeds; under model mismatch and delay, classical loops reach 125 mm height RMSE while the residual holds 33.8 mm. Simulation only.
reinforcement-learning robotics reproducible-research control-systems state-estimation system-identification whole-body-control gymnasium residual-learning lqr model-predictive-control mujoco vcm locomotion-control real-time-control stable-baselines3 wheel-legged-robot
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Updated
Oct 24, 2026 - Python
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