Updates

Currently we provide a notebook to load and run the controller in MuJoCo for you to play with.

Linear Walking

This repository contains an example code notebook for our paper "The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control". Find the project website here.

Installation

1. Clone the repository

https://github.com/LinearWalking/LinearWalking
cd LinearWalking

2. Create and Activate a Virtual Environment (optional but recommended)

python -m venv venv
source venv/bin/activate

3. Install Dependencies

pip install numpy matplotlib h5py osqp scipy mediapy notebook mujoco

4. Run the example notebook linear_walking_quadruped.ipynb

The problem data for the QP was generated in Julia. For more details, check out our website and paper.

Citation

If you find this code useful, please consider citing our paper:

@inproceedings{bishop2025linearwalking,
      title={The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control},
      author={Bishop, Arun and Alvarez-Padilla, Juan and Schoedel, Sam and Sow, Ibrahima S. and Chandrachud, Juee and Sharma, Sheitej and Kraus, Will and Park, Beomyeong and Griffin, Robert J.},
      url = {https://arxiv.org/abs/2509.17884},
      booktitle = {IEEE International Conference on Humanoid Robots},
      year={2025},
    }