OT-MPC Experiments

Interactive 3D visualizations of OT-MPC trajectories

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Bicycle Navigation

Non-holonomic navigation with a bicycle model through obstacle environments.

Bicycle Navigation
OT-MPC
Bicycle Navigation
Navigate a bicycle model through obstacles with non-holonomic constraints.

Quadrotor & Dual Quadrotor

Quadrotor obstacle avoidance and cooperative dual-quadrotor load transport through walls.

Quadrotor
OT-MPC
Quadrotor Obstacle Avoidance
Navigate through dense obstacles. Mode-averaging causes frequent MPPI failures.
Dual Quadrotor
OT-MPC
Dual Quadrotor Load Carry
Two quadrotors cooperatively carry a load through tight wall openings.

2D Push T

Push a T-shaped object to a target pose in a 2D environment.

2D Push T
OT-MPC
2D Push T
Push a T-shaped object to align with a target pose using planar pushing.

Franka Push T

Robot arm manipulation task pushing a T-shaped object to a target configuration.

Franka Push T
OT-MPC
Franka Push T
Use a Franka robot arm to push a T-shaped object to the goal pose.

Unitree Go2 Tasks

Quadruped locomotion and manipulation tasks demonstrating contact-rich control.

Box Pushing

Box Pushing
OT-MPC
Box Pushing
Push a box to a target location using body contact.

Ramp

Ramp
OT-MPC
Ramp
Navigate up a ramp with moderate incline.
Ascend/Descend Normal
OT-MPC
Ramp Ascend Descend
Navigate up and then down a ramp sequence.

Valley Crossing

Valley Easy
OT-MPC
Valley - Easy
Cross a bridge over a valley. Bridge width: 0.75m.
Valley Medium
OT-MPC
Valley - Medium
Cross a narrower bridge over a valley. Bridge width: 0.6m.
Valley Hard
OT-MPC
Valley - Hard
Cross the narrowest bridge over a valley. Bridge width: 0.55m.